A multiaxial spherical joint, which precisely couples three or more links together at one point while allowing the links to be freely movable relative to each other within a predetermined range of motion without allowing any interference between them, is disclosed. The drive electrodes include drive electrode structures that are each coupled to an adjacent drive electrode structure by a first strip of conductive material. A protective layer, formed of a substantially clear or transparent material, can be used protect an exterior surface of the substrate. The properties of each element are stored in instance variables of the associated object. In response to an access to an inactive library, the library management software 110 switches which library is active.