Title :
ALEX III: A novel robotic platform with 12 DOFs for human gait training
Author :
Zanotto, Damiano ; Stegall, Paul ; Agrawal, Sunil K.
Author_Institution :
Dept. of Mech. Eng., Univ. of Delaware, Newark, DE, USA
Abstract :
ALEX III is a bilateral exoskeleton for gait rehabilitation. It is an evolution of two previous prototypes - ALEX and ALEX II - developed at the University of Delaware. The new robot comprises a support platform and two robotic legs. Its unique characteristic is the possibility to actively control 12 degrees-of-freedom: 4 at the pelvis and 4 for each leg. This paper focuses on the design and fabrication of the robotic leg. Results from early evaluations are presented where the robotic leg is attached to a fixed frame and controlled with a zero-interaction controller.
Keywords :
gait analysis; medical robotics; patient rehabilitation; 12 DOF; ALEX III; University of Delaware; bilateral exoskeleton; gait rehabilitation; human gait training; robotic leg design; robotic leg fabrication; robotic platform; support platform; zero-interaction controller; Belts; Hip; Joints; Knee; Legged locomotion; Torque;
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
Print_ISBN :
978-1-4673-5641-1
DOI :
10.1109/ICRA.2013.6631128
