BRIDGE - Design of a passive gravity compensation module

The activity carried out within this task aimed at designing an almost indifferent-equilibrium mechanical solution to obtain an antigravity support as much as possible isotropic in the whole range of motion of the shoulder flexion. Starting from the previously existing antigravity mechanism embedded in the Motorized Arm Orthosis (MAO), it has been re-analysed and optimized modifying its geometrical and mechanical configurations and components, improving its mechanical performances in terms of weight compensation.