Solution 1 (SFOC on the joints) HALLOW SHAFT MOTOR J1 J2J3 ELBOW HAND ETH_IN ETH_OUT PS_DC_MOTORS CAN_SKIN2 CAN_FTSENSOR ETH_IN ETH_OUT PS_DC_MOTORS CAN_SKIN2 CAN_FTSENSOR ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS CAN_SKIN1 CAN_SKIN2 CAN_MOTORS CAN_FTSENSORS 2 Absolute encoder ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS CAN_SKIN1 CAN_SKIN2 CAN_MOTORS CAN_FTSENSORS 2 Absolute encoder ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS CAN_SKIN1 CAN_SKIN2 CAN_MOTORS CAN_FTSENSORS 4 Absolute encoder ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS CAN_SKIN1 CAN_SKIN2 CAN_MOTORS CAN_FTSENSORS 4 Absolute encoder ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS CAN_SKIN1 CAN_SKIN2 CAN_MOTORS CAN_FTSENSORS 3 Absolute encoder ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS CAN_SKIN1 CAN_SKIN2 CAN_MOTORS CAN_FTSENSORS 3 Absolute encoder ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS CAN_SKIN2 CAN_MOTORS CAN_FTSENSORS 1 Absolute encoder ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS CAN_SKIN2 CAN_MOTORS CAN_FTSENSORS 1 Absolute encoder

Solution 2 (ETH-SFOC on the joints) HALLOW SHAFT MOTOR J1 J2J3 ELBOW HAND ETH_IN ETH_OUT PS_DC_MOTORS ETH_IN ETH_OUT PS_DC_MOTORS ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS

Solution 3 (EMS +2FOC on the shoulder and on the upperarm) HALLOW SHAFT MOTOR J1 J2J3 ELBOW HAND ETH_IN ETH_OUT PS_DC_MOTORS CAN_SKIN2 CAN_FTSENSOR ETH_IN ETH_OUT PS_DC_MOTORS CAN_SKIN2 CAN_FTSENSOR ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS CAN_FTSENSORS 2 Absolute encoder 1 incremental enc 1 hall phase 1 motor phase 1 CAN_SKIN ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS CAN_FTSENSORS 2 Absolute encoder 1 incremental enc 1 hall phase 1 motor phase 1 CAN_SKIN ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS CAN_FTSENSORS 1 HALL sensor 1 MOTOR PHASE 1 Absolute encoder ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS CAN_FTSENSORS 1 HALL sensor 1 MOTOR PHASE 1 Absolute encoder ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS CAN_FTSENSORS ETH_IN ETH_OUT PS_DC_MOTORS PS_BLDC_MOTORS CAN_FTSENSORS

proposte Mettere nel giunto 1 della spalla un motore di taglia più grande, consentirebbe di avere un diametro cavo maggiore e consentire il passaggio di più cavi. Inoltre sarebbe più adeguato alla coppia necessaria sulle spalle. La soluzione 2 è quella che richiede da parte nostra più progettazione in assoluto, seppur riduce i cavi che transitano. Si incrementano anche il numero dei nodi di circa un x3. La soluzione 3 mi sembra un buon compromesso e riduce al minimo la progettazione elettronica/firmware/software. Tutte queste cose sono vere se si riescono ad integrare le 3 MC4- PLUS sugli avambracci e se non si deve passare ad ETHERCAT.