Relevance of Series-Elastic actuation in rehabilitation and assistance robotic: Two cases of study

摘要: This paper presents two cases of exoskeletal platform, embedding a properly-designed element working both as power-transmission and torque-sensing unit. belongs to the Series-Elastic-Actuator (SEA) category, it provides mechanical stiffness in-series with active motor, measurement torque by means its deflection. allows presented exoskeletons realize an intrinsically safe (as for compliance) controllable (both in position torque) interaction user. The respectively deal upper-limb post-stroke rehabilitation powered assistance lower-limbs. former exoskeleton - namely NEUROExos was used therapists record experimental torque-angle profiles from desired rehabilitative sessions on subject's impaired limb, order assess quantitatively current joint resistance evaluate patient's progression. latter APO allowed implementation control gait assistance. Both systems, despite being rather powerful close contact human body, embeds safety checks features, which allow them safely operate physical user, without risk harm him/her.