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

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 languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages1419-1426
Number of pages8
DOIs
Publication statusPublished - 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: May 9 2011May 13 2011

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period5/9/115/13/11

ASJC Scopus subject areas

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

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