WP3- Therapy device with active actuation

The objective of this work package is to integrate active assistance or active adjustment of the passive actuator (for instance by integrating low-power electric motors) into the passive hand-and-wrist orthotic device from WP2. This enables better control over the assist-as-needed characteristics of the device and, if so desired, can also generate haptic interaction with a virtual world. To minimize actuator dimensions and weight and maximize safe operation, the passive actuation (the passive springs) will generate most of the supportive forces and the active adjustment the dynamic manipulation. The inclusion of active actuation may require additional sensors and safety mechanisms.