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Design of a 3-DoF joint system with dynamic servo-adaptation in orthotic applications

Author
Amigo, L.; Casals, A.; Amat, J.
Type of activity
Presentation of work at congresses
Name of edition
2011 IEEE International Conference on Robotics and Automation
Date of publication
2011
Presentation's date
2011-05-10
Book of congress proceedings
2011 IEEE International Conference on Robotics and Automation (ICRA)
First page
3700
Last page
3705
DOI
https://doi.org/10.1109/ICRA.2011.5980173 Open in new window
Repository
http://hdl.handle.net/2117/19415 Open in new window
Abstract
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.
Citation
Amigo, L.; Casals, A.; Amat, J. Design of a 3-DoF joint system with dynamic servo-adaptation in orthotic applications. A: IEEE International Conference on Robotics and Automation. "IEEE ICRA". Shangai: 2011, p. 3700-3705.
Keywords
Bone, Medical robotics, Orthopaedics, Orthotics, Prosthetics, Servomechanisms
Group of research
CREB - Biomedical Engineering Research Centre
GRINS - Intelligent Robots and Systems

Participants