Design of a 3-DoF joint system with dynamic servo-adaptation in orthotic applications

Amigo, Luis; Casals Gelpi, Alicia; Amat Girbau, Josep

doi:10.1109/ICRA.2011.5980173

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Amigo, Luis

Casals Gelpi, Alicia

Amat Girbau, Josep

Document typeConference report

Defense date2011

Rights accessRestricted access - publisher's policy

All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder

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.

CitationAmigo, L.; Casals, A.; Amat, J. Design of a 3-DoF joint system with dynamic servo-adaptation in orthotic applications. A: IEEE International Conference on Robotics and Automation. "IEEE ICRA". Shangai: 2011, p. 3700-3705.

URIhttp://hdl.handle.net/2117/19415

DOI10.1109/ICRA.2011.5980173

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Design of a 3-DoF joint system with dynamic servo-adaptation in orthotic applications

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