Finally both shoulders have been printed and are ready with some updates (not only visual).

In particular the attachment points for the gas springs has been shifted on both axis in order to have the following results:

- Gas springs are preloaded at rest condition (this compensates the initial sticking point at actuation)

- Arm sliding axis at rest condition is inclined 10° updwards.

Both gas springs guarantee a growing reaction force the lower the arm is, therefore a bigger torque at the shoulder joint. They could be eventually replaced by tension springs in order to keep the hands pointing upwards.

This specific shoulder module of the exoskeleton is going to be used and adapted separately in order to create a second upper limb exoskeleton. I am going to work soon on this and the main modification is going to be the spine, since in the case of a single upper limb exo that component has no need to being bulky and super felxible.

Meanwhile, here is a preview of how both shoulders look like now (one scapula is still missing but I'll print that soon).