Spine robot assembled to its full length with new urethane spacers. Color of the spacers denotes the hardness of the plastic, which ranges in steps from 40 durometer at the tip, to 90 durometer at the base. The spacers also change in thickness from the tip to the base. The routing of the rope through the tensioner system can been seen as well. Next step is terminating the ropes. First the center rope at the back of the baseplate, then the four tendon ropes into the pockets on each end of the winch drums. On each drum in this push-pull winch, the rope winds from one side as it unwinds from the opposite side. Adjusting the amount of force on the tensioner keeps the rope tracking properly in the grooves.