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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...
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