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Kinematic compatibility is of paramount importance in wearable robotic and exoskeleton design. Misalignments between exoskeletons and anatomical joints of the human body result in interaction forces which make wearing the exoskeleton uncomfortable and even dangerous for the human. In this paper we present a kinematically compatible design of an exoskeleton hip to reduce kinematic incompatibilities,...
We present a new exoskeleton hip design representing the human hip ball joint by five revolute and two prismatic joints. The goal of the design is to increase wearing comfort and torque transmission by reducing misalignments between the human's and the exoskeleton's joint with a self-aligning yaw axis in the transverse plane. The required ranges of motions and joint velocities for the hip joint design...
Movement prediction is a key ingredient in exoskeleton robot control for walking assistance. In this paper, we propose a movement prediction method with following two desirable fundamental properties: 1) fast online calibration for a novel user, and 2) applicability to partially observable situations. Using this method, for example, 1) we can use previously collected other subjects' walking data to...
We present a new lower limb exoskeleton with series elastic actuators for augmentation of human performance and for rehabilitation of the musculoskeletal system. The KIT-EXO-1 consists of 3 DOF, linear series elastic actuators with progressive helical springs which change the spring stiffness over spring deflection and a force-based interface to the human body. We describe the design actuator and...
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