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Stiffness modulation of a cable-driven leg exoskeleton for effective human–robot interaction

Published online by Cambridge University Press:  28 April 2021

N. S. S. Sanjeevi and
Vineet VashistaOpen the ORCID record for Vineet Vashista[Opens in a new window]
N. S. S. Sanjeevi
Affiliation:
Human Centered Robotics Lab, IIT Gandhinagar, Ahmedabad, India E-mail: nakka.suryasatyasanjeevi@iitgn.ac.in
Vineet Vashista*
Affiliation:
Human Centered Robotics Lab, IIT Gandhinagar, Ahmedabad, India E-mail: nakka.suryasatyasanjeevi@iitgn.ac.in
*
*Corresponding author. Email: vineet.vashista@iitgn.ac.in
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Abstract

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With the widespread development of leg exoskeletons to provide external force-based repetitive training for gait rehabilitation, the prospect of undesired movement adaptation due to applied forces and imposed constraints require adequate investigation. A cable-driven leg exoskeleton, CDLE, presents a lightweight, flexible, and redundantly actuated architecture that enables the possibility of system parameters modulation to alter human–robot interaction while applying the desired forces. In this work, multi-joint stiffness performance of CDLE is formulated to systematically analyze human–CDLE interaction. Further, potential alterations in CDLE architecture are presented to tune human–CDLE interaction that favors the desired human leg movement during a gait rehabilitation paradigm.

Keywords

Human–Robot interactionGait rehabilitationExoskeletonCable-driven robotsStiffness modulation

Information

Type
Article
Information
Robotica , Volume 39 , Issue 12 , December 2021, pp. 2172 - 2192
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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