DocumentCode
2697274
Title
Design of a 3-DoF joint system with dynamic servo-adaptation in orthotic applications
Author
Amigo, L.E. ; Casals, A. ; Amat, J.
Author_Institution
Barcelona Tech., Univ. Politec. de Catalunya, Barcelona, Spain
fYear
2011
fDate
9-13 May 2011
Firstpage
3700
Lastpage
3705
Abstract
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.
Keywords
biomechanics; bone; medical robotics; orthopaedics; orthotics; prosthetics; servomechanisms; 3-DoF joint system design; dynamic servo-adaptation; dynamic servoadaptation; exoskeleton design; human joint; mechanical joints; orthosis; orthotic application; undesirable interaction force; virtual joint model; Actuators; Elbow; Exoskeletons; Joints; Knee; Medical treatment;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location
Shanghai
ISSN
1050-4729
Print_ISBN
978-1-61284-386-5
Type
conf
DOI
10.1109/ICRA.2011.5980173
Filename
5980173
Link To Document