Work

Preliminary test of a zero-torque controlled exoskeleton on a treadmill

Year: 2020

Type: article

Abstract: Variable stiffness actuators help to guarantee a safe human interaction when it is used as the active joints in lowerlimb exoskeletons.Therefore, we designed a unilateral exoskeleton consisting of a mechanical-rotary variable impedance actuator (MeRIA) assisting the human knee.In this paper, a first walking trial with a healthy, human subject has been carried out on a treadmill to validate the mechanical performance of the actuator.Even though the implemented zero-torque controller does not yet actively strengthen the human subject, the preliminary test shows that the exoskeleton can follow the human motion while providing a low impedance and thus a patient-cooperative behavior during walking.

Source: RWTH Publications (RWTH Aachen)

DOI: 10.18154/rwth-2021-01484

Authors: Bergmann, Lukas, Liu, Lin, Penzlin, Bernhard Joachim, Leonhardt, Steffen, Ngo Nguyen, Hoang Chuong

Institution: RWTH Aachen University

Language: English

Topic: Prosthetics and Rehabilitation Robotics

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Good health and well-being

Open Access status: green

OpenAlex ID: W3010410204