BioMot Exoskeleton - Towards a Smart Wearable Robot for Symbiotic Human-Robot Interaction

This paper presents design of a novel modular lower-limb gait exoskeleton built within the FP7 BioMot project. Exoskeleton employs a variable stiffness actuator (VSA) in all 6 joints, a directional-flexibility structure and a novel physical human-robot interfacing, which allow it to deliver the required output while minimally constraining user’s gait by providing passive degrees of freedom. Due to the modularity, exoskeleton can be used as a full lower-limb orthosis, a single-joint orthosis in any of the three joints, and a two-joint orthosis in a combi- nation of any of the two joints. By employing a simple torque control strategy, exoskeleton can be used to deliver a user- specific assistance, both in gait rehabilitation and in assisting people suffering musculoskeletal impairments. The result of the presented BioMot efforts is a low footprint-exoskeleton with powerful compliant actuators, simple, yet effective torque controller and easily adjustable flexible structure.

Jaar van publicatie:2017

Trefwoorden:wearable robotics, variable impedance actuators, rehabilitation robotics, compliant actuators

Auteurs:International

Toegankelijkheid:Closed