Title :
Design of a 3-DoF joint system with dynamic servo-adaptation in orthotic applications
Author :
Amigo, L.E. ; Casals, A. ; Amat, J.
Author_Institution :
Barcelona Tech., Univ. Politec. de Catalunya, Barcelona, Spain
Abstract :
Most exoskeleton designs rely on structures and mechanical joints that do not guarantee the right match between the orthosis and the user. This paper proposes a virtual joint model based on three active degrees of freedom aimed to emulate a human joint. This joint is capable of performing a dynamic servo-adaptation in real-time to avoid misalignments and to provide a flexible adjustment to different users´ sizes in order to avoid undesirable interaction forces.
Keywords :
biomechanics; bone; medical robotics; orthopaedics; orthotics; prosthetics; servomechanisms; 3-DoF joint system design; dynamic servo-adaptation; dynamic servoadaptation; exoskeleton design; human joint; mechanical joints; orthosis; orthotic application; undesirable interaction force; virtual joint model; Actuators; Elbow; Exoskeletons; Joints; Knee; Medical treatment;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5980173
