Title :
NEUROExos: A powered elbow orthosis for post-stroke early neurorehabilitation
Author :
Cempini, Marco ; Giovacchini, F. ; Vitiello, Nicola ; Cortese, Mario ; Moise, Matteo ; Posteraro, F. ; Carrozza, Maria
Author_Institution :
BioRobotics Inst., Scuola Superiore Sant´Anna, Pontedera, Italy
Abstract :
This paper presents the development of a portable version of the robotic elbow exoskeleton NEUROExos, designed for the treatment of stroke survivors in acute/sub-acute phases. The design was improved by a novel Series Elastic Actuation (SEA) system. The system implements two control modalities: a near-zero output impedance torque control and a passive-compliance position control.
Keywords :
actuators; biological tissues; diseases; medical robotics; neurophysiology; orthotics; patient rehabilitation; position control; torque control; NEUROExos; SEA system; control modality; near-zero output impedance torque control; passive-compliance position control; portable robotic elbow exoskeleton development; post-stroke early neurorehabilitation; powered elbow orthosis; series elastic actuation system; stroke survivor treatment; subacute phase; Elbow; Exoskeletons; Joints; Pulleys; Robots; Springs; Torque; Early Rehabilitation; Exoskeleton; Neurorehabilitation; Post-stroke; Series Elastic Actuator;
Conference_Titel :
Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE
Conference_Location :
Osaka
DOI :
10.1109/EMBC.2013.6609507
