2D images and corresponding depth information are concurrently captured via an array of monoscopic sensing devices such as a monoscopic video camera array. The exo-skeleton may assume contracted and enlarged conditions, and includes one or more serpentine elements, each extending both peripherally and axially along at least a portion of the peripheral wall. A second end portion of the drive shaft is supported by a second radial bearing. A rocking lever interacts with the actuating element for rotation about a rocking lever axis.