NEUROExos: A variable impedance powered elbow exoskeleton

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

doi:10.1109/ICRA.2011.5979866

NEUROExos: A variable impedance powered elbow exoskeleton

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

Fondazione Don Carlo Gnocchi Onlus

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Pages	1419-1426
Number of pages	8
DOIs	https://doi.org/10.1109/ICRA.2011.5979866
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
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

Access to Document

10.1109/ICRA.2011.5979866

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NEUROExos : A variable impedance powered elbow exoskeleton. / Lenzi, Tommaso; Vitiello, Nicola; De Rossi, Stefano Marco Maria; Roccella, Stefano; Vecchi, Fabrizio; Carrozza, Maria Chiara.

Proceedings - IEEE International Conference on Robotics and Automation. 2011. p. 1419-1426 5979866.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Lenzi, T, Vitiello, N, De Rossi, SMM, Roccella, S, Vecchi, F & Carrozza, MC 2011, NEUROExos: A variable impedance powered elbow exoskeleton. in Proceedings - IEEE International Conference on Robotics and Automation., 5979866, pp. 1419-1426, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 5/9/11. https://doi.org/10.1109/ICRA.2011.5979866

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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.",

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