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2017 | OriginalPaper | Chapter

Validation of a Gravity Compensation Algorithm for a Shoulder-Elbow Exoskeleton for Neurological Rehabilitation

Authors : S. Crea, M. Cempini, M. Moisè, A. Baldoni, E. Trigili, D. Marconi, M. Cortese, F. Giovacchini, F. Posteraro, N. Vitiello

Published in: Converging Clinical and Engineering Research on Neurorehabilitation II

Publisher: Springer International Publishing

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Abstract

In this paper we validate a gravity compensation algorithm for a novel shoulder-elbow exoskeleton, aimed at compensating the device weight during the execution of rehabilitation exercises. Along with the description of the exoskeleton, we present the results of the validation of the algorithm on data acquired in static and dynamic trials, in unloaded conditions. Results showed good performance of the algorithm in calculating the gravity torque of each joint, suggesting the possibility to implement rehabilitation exercises in which a specific net amount of assistive torque is provided to the user’s joints.

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Title: Validation of a Gravity Compensation Algorithm for a Shoulder-Elbow Exoskeleton for Neurological Rehabilitation
Authors: S. Crea
M. Cempini
M. Moisè
A. Baldoni
E. Trigili
D. Marconi
M. Cortese
F. Giovacchini
F. Posteraro
N. Vitiello
Publisher: Springer International Publishing
Book: Converging Clinical and Engineering Research on Neurorehabilitation II
Print ISBN: 978-3-319-46668-2

Electronic ISBN: 978-3-319-46669-9

Copyright Year: 2017
DOI: https://doi.org/10.1007/978-3-319-46669-9_82