Design of a compliantly actuated exo-skeleton for an impedance controlled gait trainer robot.
We have designed and built a lower extremity powered exo-skeleton (LOPES) for the training of post-stroke patients. This paper describes the philosophy behind the design of LOPES, motivates the choices that have been made and gives some exemplary results of the ranges of mechanical impedances that can be achieved.
van der Kooij
Herman
H
University of Twente, 7500 AE, NL. h.vanderkooij@utwente.nl
Veneman
Jan
J
Ekkelenkamp
Ralf
R
D000328:Adult; D017076:Computer-Aided Design; D017097:Electric Impedance; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005246:Feedback; D020233:Gait Disorders, Neurologic / Q000503:physiopathology* / Q000534:rehabilitation*; D006801:Humans; D008297:Male; D008328:Man-Machine Systems; D026741:Physical Therapy Modalities / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D013813:Therapy, Computer-Assisted / Q000295:instrumentation* / Q000379:methods