Fig. 2From: Design of a passive, iso-elastic upper limb exoskeleton for gravity compensationSource: Durovis AG, Switzerland Ideal spring characteristic for iso-elastic behaviour (ideal) compared to multiple real spring curves (a Art Nr. 22/2/2, b Art Nr. 22/8/2, c Art Nr. 25/4/3, d Art Nr. 25/5/2, e Art Nr. 26/4/1)Back to article page