DocumentCode
3109017
Title
Design of a compliantly actuated exo-skeleton for an impedance controlled gait trainer robot
Author
van der Kooij, Herman ; Veneman, Jan ; Ekkelenkamp, Ralf
Author_Institution
Twente Univ.
fYear
2006
fDate
Aug. 30 2006-Sept. 3 2006
Firstpage
189
Lastpage
193
Abstract
We have designed and built a lower extremity powered exo-skeleton (LOPES) for the training of post-stroke patients. This paper describes the philosophy behind the design of LOPES, motivates the choices that have been made and gives some exemplary results of the ranges of mechanical impedances that can be achieved
Keywords
electric actuators; gait analysis; mechanical variables control; medical robotics; orthotics; patient rehabilitation; actuated exo-skeleton design; lower-extremity powered robot orthoses; mechanical impedance controlled gait trainer robot; post-stroke patients; Exoskeletons; Humans; Impedance; Leg; Legged locomotion; Medical treatment; Motor drives; Rehabilitation robotics; Robot control; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Engineering in Medicine and Biology Society, 2006. EMBS '06. 28th Annual International Conference of the IEEE
Conference_Location
New York, NY
ISSN
1557-170X
Print_ISBN
1-4244-0032-5
Electronic_ISBN
1557-170X
Type
conf
DOI
10.1109/IEMBS.2006.259397
Filename
4461717
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