A Wearable Robotic Device Based on Twisted String Actuation for Rehabilitation and Assistive Applications

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jr/volume-2017/3036468/figures/3036468.fig.0012a.svgz" name="3036468.fig.0012a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Control scheme</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jr/volume-2017/3036468/figures/3036468.fig.0012b.svgz" name="3036468.fig.0012b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Double threshold logic behaviour</td></tr></table>

<div>Variable stiffness control scheme of the TSA module for the assistive application.</div>

Journal of Robotics

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Figure 12

Figure 12: A Wearable Robotic Device Based on Twisted String Actuation for Rehabilitation and Assistive Applications 