Design of a 3-DoF Joint System with Dynamic Servo-Adaptation in Orthotic Applications

摘要：

Most exoskeleton designs rely on structures and mechanical joints that do not guarantee the right match between the orthosis and the user. This paper proposes a virtual joint model based on three active degrees of freedom aimed to emulate a human joint. This joint is capable of performing a dynamic servo-adaptation in real-time to avoid misalignments and to provide a flexible adjustment to different users’ sizes in order to avoid undesirable interaction forces.

作者: L. E. Amigo A. Casals J. Amat

作者单位: Universitat Politècnica de Catalunya (UPC) Barcelona Tech Biomedical Engineering Research Centre (CREB) of the Universitat Politècnica de Catalunya (UPC),Barc

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 3700-3705

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）