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.
Original languageEnglish
Title of host publication15th IEEE International Conference on Rehabilitation Robotics (ICORR) 2017
Pages1666-1671
Number of pages6
StatePublished - 2017
Event15th IEEE International Conference on Rehabilitation Robotics - London, United Kingdom
Duration: 17 Jul 201721 Jul 2017

Conference

Conference15th IEEE International Conference on Rehabilitation Robotics
Abbreviated title ICORR 2017
CountryUnited Kingdom
CityLondon
Period17/07/1721/07/17

    Research areas

  • wearable robotics, variable impedance actuators, rehabilitation robotics, compliant actuators

ID: 29465102