Compliant actuation of rehabilitation robots - Benefits and limitations of series elastic actuators

被引：0

作者：

Vallery, Heike ^{[1
]}

Veneman, Jan

Van Asseldonk, Edwin

Ekkelenkamp, Ralf

Buss, Martin ^{[2
,3
,4
]}

Van der Kooij, Herman ^{[5
,6
,7
]}

机构：

[1] ETH, Sensory Motor Syst Lab, CH-8008 Zurich, Switzerland

[2] Australian Natl Univ, Dept Syst Engn, Canberra, ACT 2601, Australia

[3] Tech Univ Munich, Elect & Informat Technol Dept, Inst Automat Control Engn, D-8000 Munich, Germany

[4] Tech Univ Berlin, Fac Elect Engn & Comp Sci 4, Inst Energy & Automat Technol, D-1000 Berlin, Germany

[5] Univ Twente, Dept Biomech Engn, Enschede, Netherlands

[6] Delft Univ Technol, NL-2600 AA Delft, Netherlands

[7] Univ Twente, Rehabil Robot Lab, Enschede, Netherlands

来源：

IEEE ROBOTICS & AUTOMATION MAGAZINE | 2008年 / 15卷 / 03期

关键词：

series elastic actuators; gait training; passivity-based control; stroke; compliance; rehabilitation robots;

D O I：

10.1109/MRA.2008.927689

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

引用

页码：60 / 69

页数：10

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