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Autonomous Robots
Erschienen in: Autonomous Robots 3/2017

03.03.2016

Assist On-Ankle: a reconfigurable ankle exoskeleton with series-elastic actuation

verfasst von: Ahmetcan Erdogan, Besir Celebi, Aykut Cihan Satici, Volkan Patoglu

Erschienen in: Autonomous Robots | Ausgabe 3/2017

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Abstract

We present the kinematics, optimal dimensional synthesis, series-elastic actuation, control, characterization and user evaluation of AssistOn-Ankle, a reconfigurable, powered exoskeleton for ankle rehabilitation. AssistOn-Ankle features reconfigurable kinematics for delivery of both range of motion (RoM)/strengthening and balance/proprioception exercises. In particular, through lockable joints, the underlying kinematics can be configured to either a self-aligning parallel mechanism that can naturally cover the whole RoM of the human ankle, or another parallel mechanism that can support the ground reaction forces/torques transferred to the ankle. Utilizing a single device to treat multiple phases of treatment is advantageous for robotic rehabilitation, since not only does it decrease the device cost and help with the space requirements, but also shorten the time it takes for patients to familiarize with the device. Bowden cable-based series-elastic actuation of AssistOn-Ankle allows for a remote placement of the motors/drivers to result in a compact design with low apparent inertia, while also enabling high-fidelity force/impedance control and active backdriveability of the device.
Vorheriger Artikel First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach
Nächster Artikel An oscillator-based smooth real-time estimate of gait phase for wearable robotics

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Fußnoten
1
Parallel mechanisms are commonly denoted by using symbols U, R, S, and P, which stand for universal, revolute, spherical, and prismatic joints. Symbols corresponding to actuated joints are underlined in this notation.
 
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Metadaten
Titel
Assist On-Ankle: a reconfigurable ankle exoskeleton with series-elastic actuation
verfasst von
Ahmetcan Erdogan
Besir Celebi
Aykut Cihan Satici
Volkan Patoglu
Publikationsdatum
03.03.2016
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 3/2017
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-016-9551-7

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