NEUROExos: a variable impedance powered elbow exoskeleton

摘要：

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.

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

作者单位: ARTS Lab,Scuola Superiore SantAnna,viale Rinaldo Piaggio,34,56015,Pontedera (PI),Italy

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: 1419-1426

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）