ICRA 2011 Paper Abstract


Paper WeP108.5

Amigo, Luis Ernesto (Institute for Bioengineering of Catalonia (IBEC) and Universitat), Casals, Alicia (Institute for Bioengineering of Catalonia and Universitat Politè), Amat, Josep (Universitat Politècnica de Catalunya)

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

Scheduled for presentation during the Regular Sessions "Rehabilitation Robotics III" (WeP108), Wednesday, May 11, 2011, 14:40−14:55, Room 5C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Rehabilitation Robotics


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.



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