Self-Aligning Exoskeleton Axes Through Decoupling of Joint Rotations and Translations

被引：197

作者：

Stienen, Arno H. A. ^{[1
,2
]}

Hekman, Edsko E. G. ^{[1
]}

van der Helm, Frans C. T. ^{[1
,3
]}

van der Kooij, Herman ^{[1
,3
]}

机构：

[1] Univ Twente, Lab Biomech Engn, NL-7500 AE Enschede, Netherlands

[2] Northwestern Univ, Chicago, IL 60611 USA

[3] Delft Univ Technol, Lab Biomech Engn, NL-2628 CD Delft, Netherlands

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2009年 / 25卷 / 03期

关键词：

Exoskeleton; kinematics; mechanism design; physical human-robot interaction; rehabilitation robotics; upper limb; ARM; STROKE; SHOULDER; THERAPY; MOTION; ROBOT; ELBOW; RECOVERY; DESIGN;

D O I：

10.1109/TRO.2009.2019147

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：628 / 633

页数：6

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