2026
A 3-Degrees-Of-Freedom Lightweight Flexible Twisted String Actuators (TSAs)-Based Exoskeleton for Wrist Rehabilitation
Mihai Dragusanu, Nicolas Guinet, Bhivraj Suthar, Tommaso Lisini Baldi, Domenico Prattichizzo, Monica Malvezzi
ICRA 2026poster
This paper introduces a lightweight, three-degrees- of-freedom exoskeleton for wrist rehabilitation powered by Twisted String Actuators (TSAs), specifically designed to support flexion/extension, radial/ulnar deviation, and pronation/supination movements. Leveraging the high power-to-weight ratio of…