function ActualizaRobo(Hh, Eh, Jh, Fh, hr, P, C, F, E)

  
 %-- Elos mecanicos: endoesqueleto ("stick diagram") ----------------
 refreshdata(Hh(2), 'caller');  %-- Pernas
 %-- Elos mecanicos: exoesqueleto -----------------------------------
 for i=1:length(Eh), 
     set(Eh(i), 'XData', E(1,:,i),...
                'YData', E(2,:,i),...
                'ZData', E(3,:,i));
 end  
 %-- Juntas rotacionais ---------------------------------------------  
 for i=1:length(Jh), 
     set(Jh(i), 'Xdata', [C(1,:,i); C(2,:,i)],...
                'Ydata', [C(3,:,i); C(4,:,i)],...
                'Zdata', [C(5,:,i); C(6,:,i)]);
 end     
 %-- Pe de suporte e pe livre --------------------------------------
 for i=1:length(Fh), 
     set(Fh(i), 'Xdata', F(1,:,i),...
                'Ydata', F(2,:,i),...
                'Zdata', F(3,:,i)); 
 end