Toward Personal Affordable Exoskeletons With Force Control Capabilities

Autor:	Rudy Vicario, Emanuele Palazzi, Eldison Dimo, Davide Costanzi, Andrea Calanca, Rafael Ferro, Rocco Vertechy, Thiago Boaventura, Noè Murr, Matteo Meneghetti, Luca Luzi
Přispěvatelé:	Calanca A., Dimo E., Palazzi E., Ferro R., Vicario R., Murr N., Meneghetti M., Costanzi D., Luzi L., Vertechy R., Boaventura T.
Rok vydání:	2021
Předmět:	affordability Modalities Computer science Work (physics) Control (management) Control engineering force control law.invention Exoskeleton Controllability Microprocessor upper-limb exoskeleton Interaction control law Mechanical design
Zdroj:	PETRA
Popis:	This paper presents a design concept for affordable exoskeletons without renouncing to advanced interaction control modalities based on force control technologies. Affordability is reached by (1) lowering the motor requirements, thanks to a smart mechanical design, (2) lowering the sensing requirements, thanks to extensive use of microprocessor DMA, and (3) using low-cost computational platforms. A main finding of this work is that by lowering the motor requirements the exoskeleton improves its inherent force controllability.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::949a4663c1734b3052975636a9cd414e https://doi.org/10.1145/3453892.3454005 Zobrazit plný text záznamu