
172 Virtual Reality: Concepts and Technologies
Figure 8.23 Force feedback Orthosis. (Illustration: CEA-LIST, with permission)
helps to naturally integrate the actuator following a direction perpendicular to the
motorised axes. This characteristic is particularly interesting in the case of an orthosis
because it helps to integrate the actuation unit in line with the segments (Figure 8.23).
In addition, this technology helps to obtain a high force capacity while remaining
mechanically reversible (low friction). Under these conditions, it is possible to use
relatively light actuators that can be arranged in the segments and it is not necessary
to use