Active exoskeleton control systems: State of the art
K Anam, AA Al-Jumaily - Procedia Engineering, 2012 - Elsevier
To get a compliant active exoskeleton controller, the force interaction controllers are mostly
used in form of either the impedance or admittance controllers. The impedance or …
used in form of either the impedance or admittance controllers. The impedance or …
Misalignment compensation for full human-exoskeleton kinematic compatibility: State of the art and evaluation
The use of exoskeletons by the elderly, disabled people, heavy labor workers, and soldiers
can have great social and economic benefit. However, limitations in usability are impeding …
can have great social and economic benefit. However, limitations in usability are impeding …
A series elastic-and bowden-cable-based actuation system for use as torque actuator in exoskeleton-type robots
JF Veneman, R Ekkelenkamp… - … journal of robotics …, 2006 - journals.sagepub.com
Within the context of impedance controlled exoskeletons, common actuators have important
drawbacks. Either the actuators are heavy, have a complex structure or are poor torque …
drawbacks. Either the actuators are heavy, have a complex structure or are poor torque …
Development of an exoskeleton haptic interface for virtual task training
C Carignan, J Tang, S Roderick - 2009 IEEE/RSJ International …, 2009 - ieeexplore.ieee.org
An exoskeleton haptic interface is developed for functional training in virtual environments. A
composite control scheme enables a variety of tasks to be implemented, and a¿ Qt …
composite control scheme enables a variety of tasks to be implemented, and a¿ Qt …
Portable arm exoskeleton for shoulder rehabilitation
CR Carignan, MS Liszka - US Patent 7,862,524, 2011 - Google Patents
5,417,643 A* 5/1995 Taylor.......................... 601/33 integrated dc motor/harmonic drive
transmission modules is 5,845,540 A* 12/1998 R § he_1m _ co-located on adjoining …
transmission modules is 5,845,540 A* 12/1998 R § he_1m _ co-located on adjoining …
Sensing pressure distribution on a lower-limb exoskeleton physical human-machine interface
A sensory apparatus to monitor pressure distribution on the physical human-robot interface
of lower-limb exoskeletons is presented. We propose a distributed measure of the …
of lower-limb exoskeletons is presented. We propose a distributed measure of the …
Bowden cable actuator for force-feedback exoskeletons
A Schiele, P Letier, R Van Der Linde… - 2006 IEEE/RSJ …, 2006 - ieeexplore.ieee.org
This paper introduces a novel type of actuator that is investigated by ESA for force-reflection
to a wearable exoskeleton. The actuator consists of a DC motor that is relocated from the …
to a wearable exoskeleton. The actuator consists of a DC motor that is relocated from the …
ASSISTON-SE: A self-aligning shoulder-elbow exoskeleton
MA Ergin, V Patoglu - 2012 IEEE international conference on …, 2012 - ieeexplore.ieee.org
We present AssistOn-SE:, a novel powered exoskeleton for robot-assisted rehabilitation that
allows for movements of the shoulder girdle as well as shoulder rotations. Automatically …
allows for movements of the shoulder girdle as well as shoulder rotations. Automatically …
A flexible sensor technology for the distributed measurement of interaction pressure
We present a sensor technology for the measure of the physical human-robot interaction
pressure developed in the last years at Scuola Superiore Sant'Anna. The system is …
pressure developed in the last years at Scuola Superiore Sant'Anna. The system is …
Upper limb exoskeleton systems—overview
This chapter provides an overview of the research and development of upper limb
exoskeleton systems. These systems can be broadly categorized into assistive devices …
exoskeleton systems. These systems can be broadly categorized into assistive devices …