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Author Spagnuolo, G. ♦ Malosio, M. ♦ Scano, A. ♦ Caimmi, M. ♦ Legnani, G. ♦ Tosatti, L.M.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2015
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword exoskeleton design ♦ cable-driven system ♦ Exoskeletons ♦ kinematics ♦ upper-limb rehabilitation ♦ dynamics ♦ gravity-compensation ♦ Shoulder ♦ Kinematics ♦ robotic rehabilitation ♦ Joints ♦ Elbow ♦ Springs ♦ Gravity
Abstract This paper presents LIGHTarm, an exoskeleton for the upper-limb neuro-rehabilitation, characterized by a peculiar kinematic structure, expressly conceived to face shoulder rhythm and elbow singularity issues. The device is developed in two versions. The first prototype of this rehabilitation device is unactuated, achieving gravity compensation through a passively mechanically compensated mechanism obtaining a cost-effective and intrinsically safe solution for semi-autonomous training at home. A limitation of passively gravity-compensated devices is that they lack a dynamically and on-line tunable weight-support. Actuated devices, in respect to non-actuated ones, allow “a step further” in the real-time control of tuning the gravity-compensation feature. Starting from its unactuated version, the actuated version is presented, together with the kinematics and dynamics analyses of the mechanism.
Description Author affiliation: Ist. di Tecnol. Ind. e Autom., Milan, Italy (Spagnuolo, G.; Malosio, M.; Scano, A.; Caimmi, M.; Tosatti, L.M.) || Univ. di Brescia, Brescia, Italy (Legnani, G.)
ISSN 19457901
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2015-08-11
Publisher Place Singapore
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
e-ISBN 9781479918089
Size (in Bytes) 950.81 kB
Page Count 6
Starting Page 440
Ending Page 445


Source: IEEE Xplore Digital Library