LINarm++ - Mechatronic device

This document summarizes the conception, design, manufacturing and assessment phases of LINarm2, the mechatronic device integrated in the LINarm++ platform. Section 1 reports the main functional and technical concepts behind the LINarm2 device, i.e. the effectiveness of approximating functional movements by linear trajectories and the embedding of a variable stiffness actuator (VSA) within the device. Section 2 reports the highlights of the new VSA embedded in LINarm2. Section 3 reports details about the design phase. Section 4 e 5 describes the electronic components embedded in LINarm2 and the peculiar aspects of the control system. Section 6 includes the description of the manufactured and assembled prototype.