Abstract
This paper introduces NEUROExos, an elbow powered exoskeleton for rehabilitation. The NEUROExos is provided with three novel characteristics which address the major problems arising in rehabilitation robotics. A doubleshell link structure allows for a comfortable human-robot interaction, while a 4-DOF passive mechanism gives a perfect kinematic compatibility with the user. Moreover, NEUROExos is powered by a variable impedance antagonistic actuator, which provides the exoskeleton with a software-controllable passive compliance. We present the main characteristics of the exoskeleton, with a focus on the actuation and control of the platform. Additionally, results on a healthy subject show the relevance of this design during a prototypical rehabilitation task.
Original language | English |
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Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
Pages | 1419-1426 |
Number of pages | 8 |
DOIs | |
Publication status | Published - 2011 |
Event | 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China Duration: May 9 2011 → May 13 2011 |
Other
Other | 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 |
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Country | China |
City | Shanghai |
Period | 5/9/11 → 5/13/11 |
ASJC Scopus subject areas
- Software
- Artificial Intelligence
- Control and Systems Engineering
- Electrical and Electronic Engineering