NEUROExos: A variable impedance powered elbow exoskeleton

Tommaso Lenzi, Nicola Vitiello, Stefano Marco Maria De Rossi, Stefano Roccella, Fabrizio Vecchi, Maria Chiara Carrozza

Research output: Chapter in Book/Report/Conference proceedingConference contribution


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 languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Number of pages8
Publication statusPublished - 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: May 9 2011May 13 2011


Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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