A single Bowden cable passively tensioned by a torsional spring enables compact wrist abduction-adduction actuation, with simulation-guided stiffness selection validated through user experiments showing consistent motion and torque performance.
Rasmussen, The AnyBody Modeling System
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Adding an active tendon-driven wrist Ab-Ad joint to a 5 DoF exoskeleton cut drinking spillage from 56% to 3% and raised scratching leveling success from 28% to 75% in controlled tests.
citing papers explorer
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Design, Modelling and Experimental Evaluation of a Tendon-driven Wrist Abduction-Adduction Mechanism for an upper limb exoskeleton
A single Bowden cable passively tensioned by a torsional spring enables compact wrist abduction-adduction actuation, with simulation-guided stiffness selection validated through user experiments showing consistent motion and torque performance.
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A Tendon-Driven Wrist Abduction-Adduction Joint Improves Performance of a 5 DoF Upper Limb Exoskeleton -- Implementation and Experimental Evaluation
Adding an active tendon-driven wrist Ab-Ad joint to a 5 DoF exoskeleton cut drinking spillage from 56% to 3% and raised scratching leveling success from 28% to 75% in controlled tests.