Design of a minimally constraining, passively supported gait training exoskeleton: ALEX II.
IEEE Int Conf Rehabil Robot
; 2011: 5975499, 2011.
Article
em En
| MEDLINE
| ID: mdl-22275695
ABSTRACT
This paper discusses the design of a new, minimally constraining, passively supported gait training exoskeleton known as ALEX II. This device builds on the success and extends the features of the ALEX I device developed at the University of Delaware. Both ALEX (Active Leg EXoskeleton) devices have been designed to supply a controllable torque to a subject's hip and knee joint. The current control strategy makes use of an assist-as-needed algorithm. Following a brief review of previous work motivating this redesign, we discuss the key mechanical features of the new ALEX device. A short investigation was conducted to evaluate the effectiveness of the control strategy and impact of the exoskeleton on the gait of six healthy subjects. This paper concludes with a comparison between the subjects' gait both in and out of the exoskeleton.
Texto completo:
1
Coleções:
01-internacional
Base de dados:
MEDLINE
Assunto principal:
Robótica
/
Marcha
Limite:
Adult
/
Humans
Idioma:
En
Revista:
IEEE Int Conf Rehabil Robot
Ano de publicação:
2011
Tipo de documento:
Article
País de afiliação:
Estados Unidos