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.
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.