Useless. You tell us something is designed but give us NOTHING on the results from its use.
NEUROExos: A Powered Elbow Exoskeleton for Physical Rehabilitation
Publisher: IEEE
Nicola Vitiello; Tommaso Lenzi; Stefano Roccella; Stefano Marco Maria De Rossi; Emanuele Cattin; Francesco Giovacchini; Fabrizio Vecchi; Maria Chiara Carrozza
Abstract:
This
paper presents the design and experimental testing of the robotic elbow
exoskeleton NEUROBOTICS Elbow Exoskeleton (NEUROExos). The design of
NEUROExos focused on three solutions that enable its use for poststroke
physical rehabilitation. First, double-shelled links allow an ergonomic
physical human-robot interface and, consequently, a comfortable
interaction. Second, a four-degree-of-freedom passive mechanism,
embedded in the link, allows the user's elbow and robot axes to be
constantly aligned during movement. The robot axis can passively rotate
on the frontal and horizontal planes 30° and 40°, respectively, and
translate on the horizontal plane 30 mm. Finally, a variable impedance
antagonistic actuation system allows NEUROExos to be controlled with two
alternative strategies: independent control of the joint position and
stiffness, for robot-in-charge rehabilitation mode, and near-zero
impedance torque control, for patient-in-charge rehabilitation mode. In
robot-in-charge mode, the passive joint stiffness can be changed in the
range of 24-56 N·m/rad. In patient-in-charge mode, NEUROExos output
impedance ranges from 1 N·m/rad, for 0.3 Hz motion, to 10 N·m/rad, for
3.2 Hz motion.
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