| Series elastic actuator control of a powered exoskeleton. | |
| | |
MedLine Citation:
|
PMID: 22255098 Owner: NLM Status: In-Data-Review |
Abstract/OtherAbstract:
|
A motorized upper extremity orthosis based on the passive WREX system is being developed. The orthosis is a 4 dof arm controlled by user residual force inputs. The arm is intended for people with neuromuscular weakness due to muscular dystrophy or spinal muscular atrophy. Previous work determined that actuation in parallel with gravity balancing springs required less torque than actuation in series. Compliance is achieved by using a series elastic actuator (SEA) by placing torsional springs between the motors and the WREX. A torque control was implemented on the SEA at the joint level. The response of the control law was characterized without disturbances. The SEAs were then attached to the orthosis to test the response with disturbances, and the control provided accurate joint torques. |
| | |
Authors:
|
Daniel Ragonesi; Sunil Agrawal; Whitney Sample; Tariq Rahman |
Related Documents
:
|
20435828 - Drosophila fly straight by fixating objects in the face of expanding optic flow. 871178 - Scalar perceptions of distance in simple binocular configurations. 17007898 - The psychophysical law of speed estimation in michotte's causal events. 20802748 - Analysis technique for the measurement of a three-dimensional object shape. 22216118 - Response of a specialist bat to the loss of a critical resource. 9479758 - Factors governing speech reception benefits of adaptive linear filtering for listeners ... |
Publication Detail:
|
Type: Journal Article |
Journal Detail:
|
Title: Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference Volume: 2011 ISSN: 1557-170X ISO Abbreviation: Conf Proc IEEE Eng Med Biol Soc Publication Date: 2011 Aug |
Date Detail:
|
Created Date: 2012-01-18 Completed Date: - Revised Date: - |
Medline Journal Info:
|
Nlm Unique ID: 101243413 Medline TA: Conf Proc IEEE Eng Med Biol Soc Country: United States |
Other Details:
|
Languages: eng Pagination: 3515-8 Citation Subset: IM |
Export Citation:
|
APA/MLA Format Download EndNote Download BibTex |
| MeSH Terms | |
Descriptor/Qualifier:
|
|
From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine
Previous Document: Radio frequency identification - An innovative solution to guide dexterous prosthetic hands.
Next Document: Chronic stimulation of the semicircular canals using a multichannel vestibular prosthesis: Effects o...