Title:
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Design of a 3-DoF joint system with dynamic servo-adaptation in orthotic applications
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Author:
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Amigo, Luis; Casals Gelpi, Alicia; Amat Girbau, Josep
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Institut de Bioenginyeria de Catalunya; Universitat Politècnica de Catalunya. GRINS - Grup de Recerca en Robòtica Intel·ligent i Sistemes |
Abstract:
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Most exoskeleton designs rely on structures and mechanical joints that do not guarantee the right match between the orthosis and the user. This paper proposes a virtual joint model based on three active degrees of freedom aimed to emulate a human joint. This joint is capable of performing a dynamic servo-adaptation in real-time to avoid misalignments and to provide a flexible adjustment to different users’ sizes in order to avoid undesirable interaction forces. |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -Orthopedics -Robotics in medicine -Biomechanics -Bone -Medical robotics -Orthopaedics -Orthotics -Prosthetics -Servomechanisms -Ortopèdia -Robòtica en medicina -Biomecànica |
Rights:
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Document type:
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Article - Published version Conference Object |
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