Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 25, Issue 3, Pages 628-633Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2009.2019147
Keywords
Exoskeleton; kinematics; mechanism design; physical human-robot interaction; rehabilitation robotics; upper limb
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Funding
- SenterNovern (NL) [TSGE2050]
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To automatically align exoskeleton axes to human anatomical axes, we propose to decouple the joint rotations from the joint translations. Decoupling can reduce setup times and painful misalignment forces, at the cost of increased mechanical complexity and movement inertia. The decoupling approach was applied to the Dampace and Limpact exoskeletons.
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