(a) Schematic representation of the RRR mechanism applied on a wrist. The RRR mechanism is implemented via three rotational joints labeled, respectively, with numbers 1, 2, and 3. Three configurations are represented: neutral configuration, wrist abduction, and wrist adduction. The mechanism accommodates for misalignments with two orthogonal translational movements, from x (y) until x + Δx (y + Δy). One of these joints can be actuated directly or remotely by cable systems. Figure based on Ref. [88]. (b) Wrist module for autonomous use or as an expansion to the Dampace/LIMPACT exoskeleton: A change in the adduction angle Θ_AD or abduction angle Θ_AB is preserved by the kinematic structure. Picture adapted with permission from Ref. [97].