“SOFT” Exoskeletons for Upper and Lower Body Rehabilitation — Design, Control and Testing
- Тип контента: Научная статья
- Номер документа: 7002
- Название документа: “SOFT” Exoskeletons for Upper and Lower Body Rehabilitation — Design, Control and Testing
- Номер (DOI, IBSN, Патент): Не заполнено
- Изобретатель/автор: DARWIN G. CALDWELL, N. G. TSAGARAKIS
- Правопреемник/учебное заведение: Italian Institute of Technology
- Дата публикации документа: 2007-03-25
- Страна опубликовавшая документ: Италия
- Язык документа: Английский
- Наименование изделия: Не заполнено
- Источник: International Journal of Humanoid Robotics Vol. 4, No. 3 (2
- Вложения: Да
- Аналитик: Глаголева Елена
The basic concepts for exoskeletal systems have been suggested for some time with applications ranging from construction, manufacturing and mining to rescue and emergency services. In recent years, research has been driven by possible uses in medical/rehabilitation and milita-ry applications. Yet there are still significant barriers to the effective use and exploitation of this technology. Among the most pertinent of these factors is the power and actuation system and its impact of control, strength, speed and, perhaps most critically, safety. This work describes the design, construc-tion and testing of an ultra low-mass, full-body exoskeleton system having seven degrees of freedom (DOFs) for the upper limbs and five degrees of freedom (DOFs) for each of the lower limbs. This low mass is prima-rily due to the use of a new range of pneumatic muscle actuators as the power source for the system. The work presented will show how the system takes advantage of the inherent controllable compliance to produce a unit that is powerful, providing a wide range of functionality (motion and forces over an extended range) in a manner that has high safety integrity for the user. The general layout of both the upper and the lower body exoskeleton is presented together with results from preliminary experiments to demonstrate the potential of the device in limb retraining, rehabilitation and power assist (augmentation) operations.
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ТОР 10 аналитиков
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Глаголева Елена - 591
Дмитрий Соловьев - 459
Helix - 218
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