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Self-Aligning Exoskeleton Axes Through Decoupling of Joint Rotations and Translations
Abstract
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.
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Cited by
Exoskeleton robots for upper-limb rehabilitation: State of the art and future prospects
Lo, H. S., & Xie, S. Q. (2012) · Medical Engineering & Physics · doi:10.1016/j.medengphy.2011.10.004 · Cited by 571
A Review on Design of Upper Limb Exoskeletons
Gull, M. A., Bai, S., & Bak, T. (2020) · Robotics · doi:10.3390/robotics9010016 · Cited by 435
Stronger, Smarter, Softer: Next-Generation Wearable Robots
Asbeck, A. T., De Rossi, S. M. M., Galiana, I., Ding, Y., & Walsh, C. J. (2014) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2014.2360283 · Cited by 368
NEUROExos: a powered elbow exoskeleton for physical rehabilitation
Vitiello, N., Lenzi, T., Roccella, S., De Rossi, S. M. M., Cattin, E., Giovacchini, F., Vecchi, F., & Carrozza, M. C. (2013) · IEEE Transactions on Robotics · doi:10.1109/tro.2012.2211492 · Cited by 272
Kang, B. B., Choi, H., Lee, H., & Cho, K.-J. (2019) · Soft Robotics · doi:10.1089/soro.2018.0006 · Cited by 257
Metadata
- Authors
- Stienen, A. H. A., Hekman, E. E. G., van der Helm, F. C. T., & van der Kooij, H.
- Venue
- IEEE Transactions on Robotics
- Published
- 2009-06
- Volume
- 25
- Issue
- 3
- Pages
- 628-633
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- OpenAlex
- W2169664468
- Cited by
- 249
- References
- 0
- FWCI
- 4.46
- Type
- journal article
- Language
- en
- Open access
- closed
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- Stienen, A. H. A., Hekman, E. E. G., van der Helm, F. C. T., & van der Kooij, H. (2009). Self-Aligning Exoskeleton Axes Through Decoupling of Joint Rotations and Translations. IEEE Transactions on Robotics. https://doi.org/10.1109/tro.2009.2019147
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
