Actuation Requirements for Assistive Exoskeletons: Exploiting Knowledge of Task Dynamics

  • Stefano ToxiriEmail author
  • Andrea Calanca
  • Tommaso Poliero
  • Darwin G. Caldwell
  • Jesús Ortiz
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 22)


When selecting actuators for assistive exoskeletons, designers face contrasting requirements. Overdimensioned actuators have drawbacks that compromise their effectiveness in the target application (e.g. performance, weight, comfort). In some cases, the requirements on the powered actuator can be relaxed exploiting the contribution of an elastic element acting in mechanical parallel. This contribution considers one such case and describes an approach to fit the actuation requirements closely to the task dynamics, thereby mitigating the drawbacks of overdimensioned actuators.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Stefano Toxiri
    • 1
    Email author
  • Andrea Calanca
    • 2
  • Tommaso Poliero
    • 1
    • 3
  • Darwin G. Caldwell
    • 1
  • Jesús Ortiz
    • 1
  1. 1.Department of Advanced RoboticsIstituto Italiano di TecnologiaGenoaItaly
  2. 2.Department of Computer ScienceUniversity of VeronaVeronaItaly
  3. 3.Department of Informatics Bioengineering Robotics and Systems EngineeringUniversity of GenoaGenoaItaly

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