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Conference papers
Design of an innovative exoskeletal forearm-wrist mechanism
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.
Cited literature [9 references]
https://hal-cea.archives-ouvertes.fr/cea-01144016
Contributor : Bruno Savelli <>
Submitted on : Monday, April 20, 2015 - 4:26:46 PM
Last modification on : Monday, February 10, 2020 - 6:12:34 PM
Long-term archiving on: : Wednesday, April 19, 2017 - 12:34:31 AM
Contributor : Bruno Savelli <>
Submitted on : Monday, April 20, 2015 - 4:26:46 PM
Last modification on : Monday, February 10, 2020 - 6:12:34 PM
Long-term archiving on: : Wednesday, April 19, 2017 - 12:34:31 AM
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