A procedure for the automatic generation of a textual expression from a semantic representation by a computer-system is described. Differential output buffers are connected in parallel with each other. An attachment attaches the hydrogel member to the elongate member. Additionally, measuring devices, such as a goniometer, may be placed on an image to measure distances, angles and the like. The cone clutch member engages the rotating drive shaft when in the clutch engaged position. Control performed by the control unit includes a bendingmovement control in which a workpiece is moved by clamping the workpiece by the bending mechanism and moving the bending mechanism by the articulated robot, and the workpiece is bent by the bending mechanism while the workpiece is being moved.