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- W2308740634 abstract "Lucrarea prezinta proiectul lui ABLE, un exoschelet al braţului, integral acţionat de un sistem surub cu cap sferic si cablu (SSC, de la sistem cu surub si cablu), puternic reversibil, care permite controlul real al momentului in articulaţie fara senzor de forţa. Cinematica unica permite integrarea lui in structura graţie inovaţiilor mecanice speciale, precum articulaţia umarului si incheietura antebraţului. Rezultatul este o arhitectura deschisa, usoara, antropomorfica, care evita incorsetarea braţului uman. Sunt prezentate pe scurt proiecte de aplicaţii in: recuperarea medicala, telechirurgie si interfaţare haptica (RV). 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)." @default.
- W2308740634 created "2016-06-24" @default.
- W2308740634 creator A5043351155 @default.
- W2308740634 date "2010-01-01" @default.
- W2308740634 modified "2023-09-24" @default.
- W2308740634 title "DESIGN OF AN ANTHROPOMORPHIC UPPER LIMB EXOSKELETON ACTUATED BY BALL-SCREWS AND CABLES" @default.
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