Skip to main content
. Author manuscript; available in PMC: 2015 May 14.
Published in final edited form as: Proc ASME Dyn Syst Control Conf. 2014 Oct;2014:V003T43A006. doi: 10.1115/DSCC2014-6267

Table 1.

ROM and Torque of ADL [21], MAHI Exo-II, RiceWrist-S [22], and Wrist module of the MIT-Manus [15]. The values listed in parentheses for ME-II are for the Previously Presented MAHI Exo-II Design [17]

Range of Motion (deg) Torque (Nm)
Joint ADL ME-II RW-S MIT ADL ME-II RW-S MIT
Elbow F/E 150 90 (90) — — 3.5 7.35 (11.61) — —
Forearm P/S 150 180 (180) 180 140 0.06 2.75 (2.3) 1.69 1.85
Wrist F/E 115 65 (72) 130 120 0.35 1.45 (1.67) 3.37 1.43
Wrist R/U 70 63 (72) 75 75 0.35 1.45 (1.93) 2.11 1.43