Table 6.
Maximum torque/force comparison between different small operational space and wrist KHDs: Omega Delta by Phantom Force (OD), Phantom Touch by 3D Systems (PT), Open Wrist (OW), Wres (WR), Rice Wrist (RW), and the presented Wearable Delta (W
) with peak and max used values (from the second and last columns of Table 3, respectively). (c) and (p) indicate if the values can be maintained continuously or for a limited amount of time (peak)
| OD | PT | OW | WR | RW | W (data-sheet peak) |
W
(max. used)
|
|
|---|---|---|---|---|---|---|---|
| Max torque (Nm) | 3.6(p) | 6.52(p) | 5.3(p) | 2.751a (p) | 0.35a (c) | ||
| Max force (N) | 20(c) | 3.3(c) | 39.5a (p) | 5.5a (c) |
a
This is the maximum force assured in all the interested workspace, as specified in Section “Device Dimensioning and Anthropomorphic Matching.” This means that, depending on the device Jacobian (and thus on its joint position), it is also possible to reach greater values.