JR3Joint Resolution 3
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A fiberglass cast over the wrist and forearm connected the wrist to a 2-degree-of-freedom (DOF) gimbal that was attached to a 6-DOF force transducer (model 30E15A-U560A, JR3 Inc; Woodland, California).
To this aim, commercial sensors were used (50M31A-I25 for the foot and 90M40A-I50 for the great toe, JR3 Inc; Woodland, California).
3D] system is instrumented with potentiometers to track the position of the gimbal and with a 6 DOF load cell (Model 45E15A4-I63, JR3 Inc; Woodland, California) to allow haptic interaction.