Series elastic actuation of an elbow rehabilitation exoskeleton with axis misalignment adaptation
Journal
IEEE International Conference on Rehabilitation Robotics
Start Page
567
End Page
572
ISSN
19457898
19457901
ISBN (of the container)
9781665488297
9798350342758
9781467360241
9781728127552
9781538622964
9781479918072
9781424498628
9798350380682
Date Issued
2017
Author(s)
Abstract
Powered exoskeletons can facilitate rehabilitation of patients with upper limb disabilities. Designs using rotary motors usually result in bulky exoskeletons to reduce the problem of moving inertia. This paper presents a new linearly actuated elbow exoskeleton that consists of a slider crank mechanism and a linear motor. The linear motor is placed beside the upper arm and closer to shoulder joint. Thus better inertia properties can be achieved while lightweight and compactness are maintained. A passive joint is introduced to compensate for the exoskeleton-elbow misalignment and intersubject size variation. A linear series elastic actuator (SEA) is proposed to obtain accurate force and impedance control at the exoskeleton-elbow interface. Bidirectional actuation between exoskeleton and forearm is verified, which is required for various rehabilitation processes. We expect this exoskeleton can provide a means of robot-aided elbow rehabilitation.
Event(s)
2017 International Conference on Rehabilitation Robotics, ICORR 2017
Subjects
Axis Misalignment
Elbow Exoskeleton
Impedance Control
Rehabilitation Robot
Series Elastic Actuator
Actuators
Alignment
Joints (anatomy)
Linear Motors
Patient Rehabilitation
Robotics
Axis Misalignments
Elbow Exoskeleton
Impedance Control
Rehabilitation Robot
Series Elastic Actuators
Exoskeleton (robotics)
Biomechanics
Devices
Elbow
Equipment Design
Exoskeleton (rehabilitation)
Human
Impedance
Pathophysiology
Rehabilitation
Biomechanical Phenomena
Elbow
Electric Impedance
Equipment Design
Exoskeleton Device
Humans
Rehabilitation
SDGs
Publisher
IEEE Computer Society help@computer.org
Description
2017 International Conference on Rehabilitation Robotics, ICORR 2017. London; QEII Centre. conference code:129923
Type
conference paper