A novel hardware approach to integrating active and passive rehabilitation in a single exoskeleton.

Manna, S.K. and Dubey, V. N., 2018. A novel hardware approach to integrating active and passive rehabilitation in a single exoskeleton. In: IEEE-RAS International Symposium on Medical Robotics, 1-3 March 2018, Atlanta, GA, USA.

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DOI: 10.1109/ISMR.2018.8333295

Abstract

The proposed exoskeleton is based on the elbow joint where patients can have active and passive rehabilitation in a single structure without changing its configuration. The structural formation of the exoskeleton has been designed in such a way that it offers two working regions namely; actuator based active rehabilitation in the first phase and passive rehabilitation in the second phase. The solution for integrating these two phases has been implemented using an innovative passive locking mechanism which uses a spring-based system for transformation. The stiffness of the spring is utilized to switch between active and passive rehabilitation regions. Besides this there are some other advantages this exoskeleton offers such as reduction of the actuation torque as well as ease of control. The paper is divided into three parts: the first part describes the existing designs, the second part gives an overview of the developed mechanism with structural description and the last part provides the solution with technical specification.

Item Type:Conference or Workshop Item (Lecture)
Group:Faculty of Science & Technology
ID Code:31163
Deposited By: Unnamed user with email symplectic@symplectic
Deposited On:28 Aug 2018 10:19
Last Modified:28 Aug 2018 10:19

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