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The design of robots required to work in the close vicinity or physically interact with humans such as humanoids machines, rehabilitation or human performance augmentation systems should not follow the traditional design rule `stiffer is better'. Safety is a particularly vital concern in these systems and to maximize it a different design approach should be used. The role of compliance in improving...
In this study, the sliding mode approach is applied to the tracking control problem of a planar arm manipulator system driven by a new type of actuator, which comprises a pneumatic muscle (PM) and a torsion spring. Unlike the traditional agonist/antagonist pneumatic muscle actuator, the PM is arranged in place of bicep and the torsion spring provides opposing torque in the presented actuator. The...
This paper proposes a new mechanical gravity compensation mechanism suitable for the wearable lower limb rehabilitation system. Although the previous gravity compensation systems can also compensate the gravitational moment exerting on each joint perfectly, they are not sufficiently safe if they are applied to the wearable rehabilitation systems because the springs and wires must be barely stretched...
Robot-mediated rehabilitation is rapidly advancing field. However, robots that are used for rehabilitation purposes are usually single task oriented. One approach to overcome that issue is in introducing robotic devices with more degrees-of-freedom (DOF), which means complicated and expensive design. This paper presents the design of a universal haptic device (UHD) for arm and wrist rehabilitation,...
This paper reports on the powered elbow orthosis for orthopaedic rehabilitation project and its main challenges. The mechanical design is briefly discussed. The actuator being used is the novel rotational actuator, MACCEPA or Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator. The schematic representation and working principle of this actuator are recapitulated in short...
Realizing an ideal impedance control system in lower extremity rehabilitation systems is challenged by mechanical impedance of robot hardware. Although some studies in the field of control systems have been helpful in reducing the mechanical impedance of actuators, they have not been able to remove the inertia of robot hardware. This paper introduces an alternative design in which mechanical links...
We have developed a novel robotic interface to train hand and finger function. HandCARE2 is a Cable-Actuated REhabilitation (CARE) system, in which each finger is free to move in space with a large range of movement, from a closed hand to full extension. The device, designed based on biomechanical measurements, can assist the subject in opening and closing movements of the hand and can be adapted...
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