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.
fDate :
Aug. 30 2006-Sept. 3 2006
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;
Conference_Titel :
Engineering in Medicine and Biology Society, 2006. EMBS '06. 28th Annual International Conference of the IEEE
Conference_Location :
New York, NY
Print_ISBN :
1-4244-0032-5
Electronic_ISBN :
1557-170X
DOI :
10.1109/IEMBS.2006.259397
