Fig. 3From: Design of a lightweight passive orthosis for tremor suppressionMechanical working principle model of the air-structure based wrist tremor suppression system with hand connected to the forearm by the wrist. The reaction torque τ(φ)Re, as a function of the air springs mass (m), is a response to the deflection resulting from the overall wrist dynamics, including human joint and orthosis dynamics and the tremorous torque τTremorBack to article page