Abstract : This paper presents an innovative 3-joints structure designed as the forearm-wrist of a force controlled exoskeleton. It is composed of an open parallel mechanism both fitting the human forearm and able to rotate on its longitudinal joint (prono-supination), in a similar manner of the ulna-radius movement. This structure advantageously replaces circular guidings in terms of mass, volume and friction and can be freely scaled. A lightweight 3 dof forearm-wrist mechanism is proposed as an integral rotation module for the general-purpose arm exoskeleton ABLE 7 D.
https://hal-cea.archives-ouvertes.fr/cea-01144016 Contributor : Bruno SavelliConnect in order to contact the contributor Submitted on : Monday, April 20, 2015 - 4:26:46 PM Last modification on : Saturday, June 25, 2022 - 9:09:29 PM Long-term archiving on: : Wednesday, April 19, 2017 - 12:34:31 AM
Philippe Garrec, Alexandre Verney. Design of an innovative exoskeletal forearm-wrist mechanism. ICABB 2010 : 1st International Conference on Applied Bionics and Biomechanics, Oct 2010, Venise, Italy. ⟨cea-01144016⟩