Series elastic actuation of an elbow rehabilitation exoskeleton with axis misalignment adaptation

Kuan Yi Wu, Yin Yu Su, Ying Lung Yu, Kuei You Lin, Chao Chieh Lan

研究成果: Conference contribution

5 引文 斯高帕斯(Scopus)

摘要

Powered exoskeletons can facilitate rehabilitation of patients with upper limb disabilities. Designs using rotary motors usually result in bulky exoskeletons to reduce the problem of moving inertia. This paper presents a new linearly actuated elbow exoskeleton that consists of a slider crank mechanism and a linear motor. The linear motor is placed beside the upper arm and closer to shoulder joint. Thus better inertia properties can be achieved while lightweight and compactness are maintained. A passive joint is introduced to compensate for the exoskeleton-elbow misalignment and intersubject size variation. A linear series elastic actuator (SEA) is proposed to obtain accurate force and impedance control at the exoskeleton-elbow interface. Bidirectional actuation between exoskeleton and forearm is verified, which is required for various rehabilitation processes. We expect this exoskeleton can provide a means of robot-aided elbow rehabilitation.

原文English
主出版物標題2017 International Conference on Rehabilitation Robotics, ICORR 2017
編輯Arash Ajoudani, Panagiotis Artemiadis, Philipp Beckerle, Giorgio Grioli, Olivier Lambercy, Katja Mombaur, Domen Novak, Georg Rauter, Carlos Rodriguez Guerrero, Gionata Salvietti, Farshid Amirabdollahian, Sivakumar Balasubramanian, Claudio Castellini, Giovanni Di Pino, Zhao Guo, Charmayne Hughes, Fumiya Iida, Tommaso Lenzi, Emanuele Ruffaldi, Fabrizio Sergi, Gim Song Soh, Marco Caimmi, Leonardo Cappello, Raffaella Carloni, Tom Carlson, Maura Casadio, Martina Coscia, Dalia De Santis, Arturo Forner-Cordero, Matthew Howard, Davide Piovesan, Adriano Siqueira, Frank Sup, Masia Lorenzo, Manuel Giuseppe Catalano, Hyunglae Lee, Carlo Menon, Stanisa Raspopovic, Mo Rastgaar, Renaud Ronsse, Edwin van Asseldonk, Bram Vanderborght, Madhusudhan Venkadesan, Matteo Bianchi, David Braun, Sasha Blue Godfrey, Fulvio Mastrogiovanni, Andrew McDaid, Stefano Rossi, Jacopo Zenzeri, Domenico Formica, Nikolaos Karavas, Laura Marchal-Crespo, Kyle B. Reed, Nevio Luigi Tagliamonte, Etienne Burdet, Angelo Basteris, Domenico Campolo, Ashish Deshpande, Venketesh Dubey, Asif Hussain, Vittorio Sanguineti, Ramazan Unal, Glauco Augusto de Paula Caurin, Yasuharu Koike, Stefano Mazzoleni, Hyung-Soon Park, C. David Remy, Ludovic Saint-Bauzel, Nikos Tsagarakis, Jan Veneman, Wenlong Zhang
發行者IEEE Computer Society
頁面567-572
頁數6
ISBN(電子)9781538622964
DOIs
出版狀態Published - 2017 八月 11
事件2017 International Conference on Rehabilitation Robotics, ICORR 2017 - London, United Kingdom
持續時間: 2017 七月 172017 七月 20

出版系列

名字IEEE International Conference on Rehabilitation Robotics
ISSN(列印)1945-7898
ISSN(電子)1945-7901

Other

Other2017 International Conference on Rehabilitation Robotics, ICORR 2017
國家United Kingdom
城市London
期間17-07-1717-07-20

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Rehabilitation
  • Electrical and Electronic Engineering

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