外骨骼
机器人
刚度
步态
工作(物理)
动力外骨骼
机制(生物学)
模拟
计算机科学
人机交互
工程类
调制(音乐)
物理医学与康复
结构工程
人工智能
机械工程
物理
医学
声学
量子力学
作者
N. S. S. Sanjeevi,Vineet Vashista
出处
期刊:Robotica
[Cambridge University Press]
日期:2021-04-28
卷期号:39 (12): 2172-2192
被引量:7
标识
DOI:10.1017/s0263574721000242
摘要
Abstract With the widespread development of leg exoskeletons to provide external force-based repetitive training for gait rehabilitation, the prospect of undesired movement adaptation due to applied forces and imposed constraints require adequate investigation. A cable-driven leg exoskeleton, CDLE, presents a lightweight, flexible, and redundantly actuated architecture that enables the possibility of system parameters modulation to alter human–robot interaction while applying the desired forces. In this work, multi-joint stiffness performance of CDLE is formulated to systematically analyze human–CDLE interaction. Further, potential alterations in CDLE architecture are presented to tune human–CDLE interaction that favors the desired human leg movement during a gait rehabilitation paradigm.
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