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Performance metrics
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Obtained values
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|---|
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Forearm module weight [g]
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238
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Upper arm module weight [g]
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224
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Myo armband weight [g]
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94
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Total weight [g]
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556
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Forearm module dimensions1 [mm]
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200 ×120×802
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Upper arm module dimensions1 [mm]
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120 ×1603×1253
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Output max. torque [Nm]
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3.7
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Output max. velocity [deg/s]
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5304/5205
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Output max. acceleration [deg/s2]
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6’5104/7’5705
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Force/torque range6 [N]/[Nm]
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0-50/0-4
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Force/torque resolution [mN]/[mNm]
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7.3/0.58
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Angular position resolution [deg]
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0.058
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Angular velocity resolution [rpm]
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configurable
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Restrained RoM [deg] (cf. Fig. 1d)
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±77
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Static friction7 [Nm]
| <∣±0.1∣ |
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Dynamic friction8 [Nm]
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\(0.00198\dot {\theta }\pm 0.0135\)
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Position control bandwidth [Hz]
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1.74
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PD steady-state error [deg]
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<0.12
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Autonomy9 [min]
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125
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Battery capacity [Wh]
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11.1
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- 1for a 1m83 tall user
- 2with palm support and fastening cable
- 3with module fingers fully extended
- 4in extension and in restrained RoM
- 5in flexion and in restrained RoM
- 6measurable by the load cell in both directions
- 7in restrained RoM
- 8for \(\dot {\theta }\) up to 250 deg/s, R2=0.995
- 9in normal use
