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Design and Control of a Transparent Lower Limb Exoskeleton

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

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.

Keywords

Lower Limb Exoskeleton Exoskeleton Structure Joint Patients Pelvic Belt Model Predictive Control 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

References

  1. 1.
    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
  2. 2.
    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)Google Scholar

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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