ICRA 2011 Paper Abstract


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


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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