A Task-based Design Methodology for Robotic Exoskeletons
This study is aimed at developing a task-based methodology for the design of robotic exoskeletons. This is in contrast to prevailing research efforts, which attempt to mimic the human limb, where each human joint is given an exoskeleton counter-joint. Rather, we present an alternative systematic des...
| Authors: | , , , |
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| Format: | article |
| Publication Date: | 2018 |
| Country: | España |
| Institution: | Universitat Politècnica de Catalunya (UPC) |
| Repository: | UPCommons. Portal del coneixement obert de la UPC |
| Language: | English |
| OAI Identifier: | oai:upcommons.upc.edu:2117/362476 |
| Online Access: | https://hdl.handle.net/2117/362476 https://dx.doi.org/10.1177/2055668318800672 |
| Access Level: | Open access |
| Keyword: | Biomechanics Biomedical engineering Task-based rehabilitation Exoskeleton design Kinematic synthesis Thumb rehabilitation Bricard mechanism Biomecànica Enginyeria biomèdica Àrees temàtiques de la UPC::Enginyeria mecànica Àrees temàtiques de la UPC::Enginyeria biomèdica::Biomecànica |
| Summary: | This study is aimed at developing a task-based methodology for the design of robotic exoskeletons. This is in contrast to prevailing research efforts, which attempt to mimic the human limb, where each human joint is given an exoskeleton counter-joint. Rather, we present an alternative systematic design approach for the design of exoskeletons that can follow the complex three-dimensional motions of the human body independent of anatomical measures and landmarks. With this approach, it is not necessary to know the geometry of the targeted limb but rather to have a description of its motion at the point of attachment. |
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