Title :
Orthopaedic rehabilitation: A powered elbow orthosis using compliant actuation
Author :
Vanderniepen, I. ; Van Ham, R. ; Van Damme, M. ; Versluys, R. ; Lefeber, D.
Author_Institution :
Dept. of Mech. Eng., Vrije Univ. Brussel, Brussels, Belgium
Abstract :
This paper reports on the powered elbow orthosis for orthopaedic rehabilitation project and its main challenges. The mechanical design is briefly discussed. The actuator being used is the novel rotational actuator, MACCEPA or Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator. The schematic representation and working principle of this actuator are recapitulated in short before describing the mathematical model of the orthosis and the choices made to find a balance between simplicity, usefulness and correspondence with reality.
Keywords :
actuators; biomechanics; compliance control; medical robotics; orthopaedics; orthotics; patient rehabilitation; position control; MACCEPA; controllable equilibrium position actuator; mathematical model; mechanically adjustable compliance actuator; orthopaedic rehabilitation; powered elbow orthosis; rotational actuator; Actuators; Central nervous system; Elbow; Joints; Mathematical model; Medical robotics; Medical treatment; Orthopedic surgery; Rehabilitation robotics; Robotics and automation;
Conference_Titel :
Rehabilitation Robotics, 2009. ICORR 2009. IEEE International Conference on
Conference_Location :
Kyoto International Conference Center
Print_ISBN :
978-1-4244-3788-7
Electronic_ISBN :
1945-7898
DOI :
10.1109/ICORR.2009.5209483
