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Paper TuP108.1

Lenzi, Tommaso (Scuola Superiore Sant'Anna), Vitiello, Nicola (Scuola Superiore Sant Anna), De Rossi, Stefano Marco Maria (Scuola Superiore Sant'Anna), Roccella, Stefano (Scuola Superiore Sant' Anna - ARTS Lab), Vecchi, Fabrizio (Scuola Superiore Sant'Anna), Carrozza, Maria Chiara (Scuola Superiore Sant'Anna)

NEUROExos: A Variable Impedance Powered Elbow Exoskeleton

Scheduled for presentation during the Regular Sessions "Rehabilitation Robotics I" (TuP108), Tuesday, May 10, 2011, 13:40−13:55, 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 April 2, 2020

Keywords Rehabilitation Robotics, Compliant Joint/Mechanism, Neurorobotics

Abstract

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 double-shell 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 a full characterization of the main characteristics of the exoskeleton, with a focus on the actuation and control of the platform. Additionally, results on a healthy subject shows the relevance of this design during a prototypical rehabilitation task.

 

 

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