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Fig. 1 | Journal of NeuroEngineering and Rehabilitation

Fig. 1

From: Characterization and wearability evaluation of a fully portable wrist exoskeleton for unsupervised training after stroke

Fig. 1

a The current version of the eWrist mounted on the right arm of a user. It is composed of three modules, namely, the forearm module, the upper arm module and the Myo armband. b The forearm module of the eWrist with two ratchet wheels (on the handle and on the forearm) to adjust the tightening tension. The locking hooks are equipped with two guiding magnets to ease the fixation. c The upper arm module of the eWrist and the four compliant gripping fingers that move inwards when the tightening wheel is turned. With the press of a button fixed to a ratchet (not shown on the picture) the tightening wheel unwinds and the fingers move outwards. d The restrained RoM from 77∘ in flexion to 77∘ in extension

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