1 / 1

Design of actuation for an impedance controlled gait rehabilitation robot (LOPES)

Design of a Series Elastic- and Bowdencable-based actuation system for use as torque-actuator in exoskeleton-type training robots. J.F. Veneman, R. Ekkelenkamp, R. Kruidhof, F.C.T. v.d. Helm, H. v.d. Kooij Biomechanical Engineering, BMTI, University of Twente, j.f.veneman@utwente.nl.

courtney
Download Presentation

Design of actuation for an impedance controlled gait rehabilitation robot (LOPES)

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Design of a Series Elastic- and Bowdencable-based actuation system for use as torque-actuator in exoskeleton-type training robots J.F. Veneman, R. Ekkelenkamp, R. Kruidhof, F.C.T. v.d. Helm, H. v.d. Kooij Biomechanical Engineering, BMTI, University of Twente,j.f.veneman@utwente.nl • Design of actuation for an impedance controlled gait rehabilitation robot (LOPES) • Demands on actuators: ‘pure’ force sources, lightweight, safe, adjustable, impact-proof • Proposed solution: bowden-cable based transmission and series elastic coupling • Result: knee-joint with 20 Hz torque control bandwidth and low output impedance ThC01.1

More Related