Design and Control of the Rehab-Exos, a Joint Torque-Controlled Upper Limb Exoskeleton

Design and Control of the Rehab-Exos, a Joint Torque-Controlled Upper Limb Exoskeleton

This work presents the design of the Rehab-Exos, a novel upper limb exoskeleton designed for rehabilitation purposes. It is equipped with high-reduction-ratio actuators and compact elastic joints to obtain torque sensors based on strain gauges. In this study, we address the torque sensor performance...

Full description

Bibliographic Details
Main Authors: Domenico Chiaradia, Gianluca Rinaldi, Massimiliano Solazzi, Rocco Vertechy, Antonio Frisoli
Format: Article
Language:English
Published: MDPI AG 2024-02-01
Series:Robotics
Subjects:
physical human–robot interaction
joint torque sensor
elastic joint
upper limb exoskeleton
full-state feedback control
transparency
Online Access:https://www.mdpi.com/2218-6581/13/2/32

Similar Items

Similar Items