Abstract
This paper describes the design of a gravity balanced spatial orthosis. Previous works introduced planar mechanisms only. They relied on counter-weight or auxiliary parallelograms. They neglect the friction. The main contribu-tions of this paper are: (i) we succeed in designing a spatial (3D) mechanism and (ii) we use special transmission mechanisms in the goal of reducing the weight, (iii) we took the friction into consideration. We designed a system that ensures simultaneously gravity balancing and actuation. The system is in static equilib-rium whatever its posture. It has two degrees of freedom at the hip and one at the knee. A prototype of this orthosis is presented at the end of the paper
Published Version
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