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 language | English |
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Title of host publication | 2015 IEEE 1st International Forum on Research and Technologies for Society and Industry, RTSI 2015 - Proceedings |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 76-81 |
Number of pages | 6 |
ISBN (Print) | 9781467381666 |
DOIs | |
Publication status | Published - Nov 10 2015 |
Event | 1st IEEE International Forum on Research and Technologies for Society and Industry, RTSI 2015 - Torino, Italy Duration: Sep 16 2015 → Sep 18 2015 |
Other
Other | 1st IEEE International Forum on Research and Technologies for Society and Industry, RTSI 2015 |
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Country/Territory | Italy |
City | Torino |
Period | 9/16/15 → 9/18/15 |
ASJC Scopus subject areas
- Signal Processing
- Energy Engineering and Power Technology
- Automotive Engineering
- Electrical and Electronic Engineering
- Industrial and Manufacturing Engineering