Design and pilot validation of A-gear: A novel wearable dynamic arm support (+ Erratum)

Background Persons suffering from progressive muscular weakness, like those with Duchenne muscular dystrophy (DMD), gradually lose the ability to stand, walk and to use their arms. This hinders them from performing daily activities, social participation and being independent. Wheelchairs are used to overcome the loss of walking. However, there...

Parameter analysis for the design of statically balanced serial linkages using a stiffness matrix approach with Cartesian coordinates

A statically balanced system is in equilibrium in every pose. In classical balancing solutions for serial linkages, each DOF is balanced by an independent element. Disadvantages are increased mass and inertia for counter-mass, and auxiliary links for spring solutions. Recent literature presents a method for balancing serial linkages without...

Inventory of platforms towards the design of a statically balanced six degrees of freedom compliant precision stage

For many applications in precision engineering, a six degrees of freedom (DoF) compliant stage (CS) with zero stiffness is desirable, to deal with problems like backlash, friction, lubrication, and at the same time, reduce the actuation force. To this end, the compliant stage (also known as compliant mechanism) can be statically balanced with a...