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. 2020 Oct 7;17:132. doi: 10.1186/s12984-020-00749-4

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© The Author(s) 2020

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/. The Creative Commons Public Domain Dedication waiver (http://creativecommons.org/publicdomain/zero/1.0/) applies to the data made available in this article, unless otherwise stated in a credit line to the data.

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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