2019
Towards Semi-Autonomous and Soft-Robotics Enabled Upper-Limb Exoprosthetics: First Concepts and Robot-Based Emulation Prototype
ICRA 2019poster
In this paper the first robot-based prototype of a semi-autonomous upper-limb exoprosthesis is introduced, unifying exoskeletons and prostheses [1]. A central goal of this work is to minimize unnecessary interaction forces on the residual limb by compensating gravity effects via a upper body grounde…