Title :
Biomechanical considerations in the design of lower limb exoskeletons
Author :
Cenciarini, Massimo ; Dollar, Aaron M.
Author_Institution :
Dept. of Mech. Eng. & Mater. Sci., Yale Univ., New Haven, CT, USA
fDate :
June 29 2011-July 1 2011
Abstract :
This paper presents an analysis of the human biomechanical considerations related to the development of lower limb exoskeletons. Factors such as kinematic alignment and compatibility, joint range of motion, maximum torque, and joint bandwidth are discussed in the framework of a review of the design specifications for exoskeleton prototypes discussed in the literature. From this analysis, we discuss major gaps in the research related to the topic and how those might be filled.
Keywords :
biomechanics; prosthetics; prototypes; compatibility; exoskeleton prototypes; human biomechanical considerations; joint bandwidth; joint motion range; kinematic alignment; lower limb exoskeleton design; maximum torque; Exoskeletons; Hip; Humans; Joints; Kinematics; Knee; Read only memory; design; exoskeleton; lower extremities; robotic; Biomechanics; Equipment Design; Humans; Lower Extremity; Robotics;
Conference_Titel :
Rehabilitation Robotics (ICORR), 2011 IEEE International Conference on
Conference_Location :
Zurich
Print_ISBN :
978-1-4244-9863-5
Electronic_ISBN :
1945-7898
DOI :
10.1109/ICORR.2011.5975366
