Relevance of Series-Elastic actuation in rehabilitation and assistance robotic: Two cases of study

Marco Cempini, Dario Marconi, Marco Muscolo, Matteo Moise, Matteo Fantozzi, Mario Cortese, Andrea Parri, Tingfang Yan, Simona Crea, Francesco Giovacchini, Federico Posteraro, Maria Chiara Carrozza, Nicola Vitiello

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

Abstract

This paper presents two cases of exoskeletal platform, embedding a properly-designed element working both as power-Transmission and torque-sensing unit. This element belongs to the Series-Elastic-Actuator (SEA) category, as it provides a mechanical stiffness in-series with the active motor, and provides measurement of the torque by means of its deflection. This allows presented exoskeletons to realize an intrinsically safe (as for the compliance) and controllable (both in position and torque) interaction with the user. The two cases respectively deal with upper-limb post-stroke rehabilitation and powered assistance for the lower-limbs. The former exoskeleton-namely NEUROExos-was used by therapists to record experimental torque-Angle profiles from desired rehabilitative sessions on the subject's impaired limb, in order to assess quantitatively the current joint resistance and evaluate patient's progression. The latter exoskeleton-namely APO-allowed the implementation of a torque control for gait assistance. Both systems, despite being rather powerful and in close contact with the human body, embeds safety checks and features, which allow them to safely operate in physical contact with the user, without the risk to harm him/her.

Original languageEnglish
Title of host publication2015 IEEE 1st International Forum on Research and Technologies for Society and Industry, RTSI 2015 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages76-81
Number of pages6
ISBN (Print)9781467381666
DOIs
Publication statusPublished - Nov 10 2015
Event1st IEEE International Forum on Research and Technologies for Society and Industry, RTSI 2015 - Torino, Italy
Duration: Sep 16 2015Sep 18 2015

Other

Other1st IEEE International Forum on Research and Technologies for Society and Industry, RTSI 2015
CountryItaly
CityTorino
Period9/16/159/18/15

ASJC Scopus subject areas

  • Signal Processing
  • Energy Engineering and Power Technology
  • Automotive Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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    Cempini, M., Marconi, D., Muscolo, M., Moise, M., Fantozzi, M., Cortese, M., Parri, A., Yan, T., Crea, S., Giovacchini, F., Posteraro, F., Carrozza, M. C., & Vitiello, N. (2015). Relevance of Series-Elastic actuation in rehabilitation and assistance robotic: Two cases of study. In 2015 IEEE 1st International Forum on Research and Technologies for Society and Industry, RTSI 2015 - Proceedings (pp. 76-81). [7325074] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RTSI.2015.7325074