NDLI: A lower limb exoskeleton research platform to investigate human-robot interaction

Content Provider	IEEE Xplore Digital Library
Author	Bartenbach, V. Wyss, D. Seuret, D. Riener, R.
Copyright Year	2015
Description	Author affiliation: Sensory-Motor Syst. Lab., Zurich, Switzerland (Bartenbach, V.; Wyss, D.; Riener, R.)
Abstract	Designing the underlying mechanical structure of lower limb exoskeletons for assistance and rehabilitation is a demanding task that requires a good understanding of the interaction that takes place between the exoskeleton and the human user wearing it. Often the effects of a given mechanical design on the user are not straightforward or intuitive. One obstacle for research is that existing rehabilitation systems do not offer the flexibility that is necessary to investigate different designs and ideas. In this paper we present a passive experimental lower limb exoskeleton that is specifically built to evaluate exoskeleton design-elements and different characteristics. These are namely a joint misalignment compensation mechanism, a three DOF hip joint design, the lack of mechanical transparency as well as the placement of the interfacing cuffs. The motivation and mechanical design of the system is presented along with the results of pilot trials to validate the system as a suitable experimental platform for our investigations.
Starting Page	600
Ending Page	605
File Size	525695
Page Count	6
File Format	PDF
ISSN	19457901
e-ISBN	9781479918089
DOI	10.1109/ICORR.2015.7281266
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-08-11
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Knee Legged locomotion Exoskeletons Kinematics Joints Hip
Content Type	Text
Resource Type	Article
Subject	Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering

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