Abstract
This paper deals with the design and evaluation of a modular exoskeleton for rehabilitation of lower limb movements. The exoskeleton is composed of lightweight tubular structures and six free joints that provide actuation and configuration modularity to the system. Experiments considering the interaction between a healthy subject and the exoskeleton are performed to evaluate the influence of the exoskeleton structure on kinematic and muscular activity profiles during walking. Also, an optimal impedance controller for exoskeletons was evaluated considering the modular exoskeleton.
This work was supported by Coordination for the Improvement of Higher Education Personnel (CAPES), Support Program for Graduate Studies and Scientific and Technological Research for Assistive Technology in Brazil (PGPTA), under grant 3457/2014.
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Contreras-Vidal, J.L., Bhagat, N.A., Brantley, J., Cruz-Garza, J.G., He, Y., Manley, Q., Nakagome, S., Nathan, K., Tan, S.H., Zhu1, F., Pons, J.L.: Powered exoskeletons for bipedal locomotion after spinal cord injury. J. Neural Eng. 13(3), 1–16 (2016)
dos Santos, W.M., Nogueira, S.L., de Oliveira, G.C., Pea, G.G., Siqueira, A.A.G.: Design and evaluation of a modular lower limb exoskeleton for rehabilitation. In: 2017 International Conference on Rehabilitation Robotics (ICORR), London, pp. 447–451 (2017)
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dos Santos, W.M., Siqueira, A.A.G. (2019). Design and Control of a Transparent Lower Limb Exoskeleton. In: Carrozza, M., Micera, S., Pons, J. (eds) Wearable Robotics: Challenges and Trends. WeRob 2018. Biosystems & Biorobotics, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-030-01887-0_34
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DOI: https://doi.org/10.1007/978-3-030-01887-0_34
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