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Design Of An Anthropomorphic Upper Limb Exoskeleton Actuated By Ball-Screws And Cables

Abstract : This paper presents the design of ABLE, an anthropomorphic upper limb exoskeleton integrally actuated by highly reversible ball-screw and cable (SCS standing for Screw-and-Cable-System) allowing true joint torque control without force sensor. Their unique kinematics allows their integration in the structure thanks to dedicated mechanical innovations such as the shoulder articulation and the forearm-wrist. The result is an anthropomorphic, lightweight, open architecture which avoids imprisoning the human limb. Applicative projects are briefly presented in: medical rehabilitation, teleoperation and haptics (VR).
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Submitted on : Friday, July 10, 2015 - 3:11:31 PM
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Philippe Garrec. Design Of An Anthropomorphic Upper Limb Exoskeleton Actuated By Ball-Screws And Cables. Bulletin of the Academy of Sciences of the Ussr - Physical Series, 2010, 72, pp.23. ⟨cea-01175471⟩

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