Spring uses in exoskeleton actuation design

IEEE International Conference on Rehabilitation Robotics

Volumn , Issue , 2011, Pages

  Wang, Shiqian ^a   Van Dijk, Wietse ^a   Van Der Kooij, Herman ^a,b  

^a DELFT UNIVERSITY OF TECHNOLOGY   (Netherlands)

^b UNIVERSITY OF TWENTE   (Netherlands)

Author keywords

actuation; exoskeleton; PEA; SEA; spring; wearable robots

Indexed keywords

ACTUATION; EXOSKELETON; PEA; SEA; SPRING; WEARABLE ROBOTS;

ACTUATORS; MUSCLE; OPTIMIZATION; PIEZOELECTRIC DEVICES; PRODUCTION PLATFORMS; ROBOTICS; ROBOTS; TENDONS;

DESIGN;

ADULT; ANKLE; ARTICLE; BIOMECHANICS; CLINICAL TRIAL; FEMALE; GAIT; HUMAN; INSTRUMENTATION; MALE; METHODOLOGY; ORTHOTICS; PHYSIOLOGY; ROBOTICS; SKELETAL MUSCLE; SPINAL CORD INJURY; WALKING;

ADULT; ANKLE JOINT; BIOMECHANICS; FEMALE; GAIT; HUMANS; MALE; MUSCLE, SKELETAL; ORTHOTIC DEVICES; ROBOTICS; SPINAL CORD INJURIES; WALKING; YOUNG ADULT;

EID: 80055039990     PISSN: 19457898     EISSN: 19457901     Source Type: Conference Proceeding    
DOI: 10.1109/ICORR.2011.5975471     Document Type: Conference Paper

References (19)

1. Rick Hansen Spinal Cord Injury Registry (RHSCIR), "Spinal cord injury facts and statistics," http://rickhansenregistry.org/page192.htm, 2006.
2. ARGO Medical Technology Ltd., http://www.argomedtec.com/
3. Berkeley Bionics, http://berkeleybionics.com/exoskeletons-rehabmobility/
4. REX Bionics, http://www.rexbionics.com/
5. H. Herr, R. Kornbluh, "New horizons for orthotic and prosthetic technology: artificial muscle for ambulation," Proc. of SPIE-The International Society for Optical Engineering, Smart Structures and Materials 2004-Electroactive Polymer Actuators and Devices (EAPAD), San Diego, CA, USA, Vol. 5385, No. 1, pp. 1 -9, 2004.
6. G.A. Pratt, M.M. Willianmson, "Series Elastic Actuator," Proc. of IEEE Int. Conf. on Intelligent Robots and Systems, Pittsburgh, PA, USA, Vol. 1, pp. 399-406, 1995.
7. J. E., Pratt, B. T., Krupp, C. J., Morse, S. H., Collins, "The RoboKnee: an exoskeleton for enhancing strength and endurance during walking," Proc. of IEEE Int. Conf. on Robotics and Automation, New Orleans, LA, USA, Vol. 2004, Issue 3, pp. 2430-2435, 2004.
8. J.E., Pratt, B.T., Krupp, "Series elastic actuators for legged robots," Proc. of SPIE-The International Society for Optical Engineering, Vol. 5422, pp. 135-144, 2004.
9. K., Endo, H., Herr, "Human walking model predicts joint mechanics, electromyography and mechanical economy," Proc. of Int. Conf. on Intelligent Robots and Systems, St. Louis, USA, pp. 4663-4668, 2009
10. A.J., van den Bogert, "Exotendons for assistance of human locomotion," BioMedical Engineering Online, Vol. 2, art. No. 17, 2003.
11. K.W., Hollander, R., Ilg, T.G., Sugar, D., Herring, "An efficient robotic tendon for gait assistance," Journal of Biomechanical Engineering, Vol. 128, No 5, pp. 788-791, 2006.
12. S.K., Au, H, Herr, J., Weber, E. C., Martinez-Villalpando, "Powered ankle-foot prosthesis for the improvement of amputee ambulation," Proceedings of Annual Int. Conf. of the IEEE Engineering in Medicine and Biology, Lyon, France, pp. 3020-3026, 2007.
13. H. K., Kwa, J. H., Noorden, et al., "Development of the IHMC Mobility Assist Exoskeleton," IEEE Int. Conf. on Robotics and Automation, Kobe, Japan, pp. 2556-2562, 2009.
14. Lagoda, C., Schouten, A. C., Stienen, A. H. A., Hekman, E. E. G., van der Kooij, H., "Design of an electric series elastic actuated joint for robotic gait rehabilitation training," IEEE RAS and EMBS Int. Conf. on Biomedical Robotics and Biomechatronics (BioRob), Tokyo, Japan, pp. 26-29, 2010.
15. Scheint, M., Sobotka, M., Buss, M., "Optimized parallel joint springs in dynamic motion: Comparison of simulation and experiment," IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Tokyo, 2010, pp. 485-490.
16. S. K. Au, J. Weber, H. Herr, "Powered Ankle-Foot Prosthesis Improves Walking Metabolic Economy," IEEE Trans. on Robotics, Vol. 25, No. 1, pp. 51-66.
17. D.A. Winter, Biomechanics and motor control of human movement, New Jersey: John Wiley & Sons, Inc., 4th ed., 2009.
18. A. Cullell et al., "Biologically based design of an actuator system for a knee-ankle-foot orthosis," Mechanism and Machine Theory, Vol. 44, No. 4, pp 860-872, 2009.
19. Eiberger, O., Haddadin, S., et al., "On joint design with intrinsic variable compliance: derivation of the DLR QA-Joint," Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), Anchorage, AK, USA, 2010, pp. 1687-1694.