Design and Control of a Transparent Lower Limb Exoskeleton

Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 22)


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.


Lower Limb Exoskeleton Exoskeleton Structure Joint Patients Pelvic Belt Model Predictive Control 
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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)CrossRefGoogle Scholar
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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of Mechanics Engineering, Engineering School of São CarlosUniversity of São Paulo (USP)São CarlosBrazil
  2. 2.Center for Advanced Studies in Rehabilitation, and Center for Robotics of São CarlosUniversity of São Paulo (USP)São CarlosBrazil

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