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The Biomech-Wrist is a fully actuated exoskeleton comprised by three rotational joints in series, designed to be donned by used with ease and allow a full ROM at every DOF of the human wrist joint
The Biomech-Wrist is a fully actuated exoskeleton comprised by three rotational joints in series, designed to be donned by used with ease and allow a full ROM at every DOF of the human wrist joint
Each joint of the exoskeleton is actuated by a quasi-direct drive actuators, capable of providing sufficient torques and speeds for rehabilitation purposes and training of motor skills.
Each joint of the exoskeleton is actuated by a quasi-direct drive actuators, capable of providing sufficient torques and speeds for rehabilitation purposes and training of motor skills.
Potential applications for teleoperation, interaction with virtual environments, and haptic interfaces.
Potential applications for teleoperation, interaction with virtual environments, and haptic interfaces.
The use of quasi-direct drive actuators allow to generate high torques (up to 12Nm) while keeping the back-driveability of every joint of the exoskeleton.
The use of quasi-direct drive actuators allow to generate high torques (up to 12Nm) while keeping the back-driveability of every joint of the exoskeleton.
Position, velocity, and torque data can be obtained independently for every actuator by the build-in driver board.
Position, velocity, and torque data can be obtained independently for every actuator by the build-in driver board.
A simplified wiring for control and power supply of the devices is achieved thanks to the daisy-chain connection of the CAN bus connection used to received and send data the motors.Â
A simplified wiring for control and power supply of the devices is achieved thanks to the daisy-chain connection of the CAN bus connection used to received and send data the motors.Â
Demo video
Demo video
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