Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 35, Issue 6, Pages 1464-1474Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2019.2930915
Keywords
Robots; Exoskeletons; Torque; Springs; Wheels; Elbow; Impedance; Biomechatronics; exoskeleton; rehabilitation robotics; upper extremity
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Funding
- U.S. Department of Veterans Affairs, Veterans Health Administration, Rehabilitation Research and Development Service [1I01RX001966-01A1]
- U.S. National Institutes of Health [1R21 HD088783-01, 1R15 HD075166-01A1]
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Movement impairments resulting from neurologic injuries, such as stroke, can be treated with robotic exoskeletons that assist with movement retraining. Exoskeleton designs benefit from low impedance and accurate torque control. We designed a two-degrees-of-freedom tethered exoskeleton that can provide independent torque control on elbow flexionextension and forearm supinationpronation. Two identical series elastic actuators (SEAs) are used to actuate the exoskeleton. The two SEAs are coupled through a novel cable-driven differential. The exoskeleton is compact and lightweight, with a mass of 0.9kg. Applied rms torque errors were less than 0.19 Nm. Benchtop tests demonstrated a torque rise time of approximately 0.1 s, a torque control bandwidth of 3.7 Hz, and an impedance of less than 0.03 Nm at 1 Hz. The controller can simulate a stable maximum wall stiffness of 0.45Nm. The overall performance is adequate for robotic therapy applications and the novelty of the design is discussed.
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