Abstract
In this paper we validate a gravity compensation algorithm for a novel shoulder-elbow exoskeleton, aimed at compensating the device weight during the execution of rehabilitation exercises. Along with the description of the exoskeleton, we present the results of the validation of the algorithm on data acquired in static and dynamic trials, in unloaded conditions. Results showed good performance of the algorithm in calculating the gravity torque of each joint, suggesting the possibility to implement rehabilitation exercises in which a specific net amount of assistive torque is provided to the user’s joints.
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Acknowledgments
This work was supported in part by the European Union within the AIDE Project H2020-ICT-22-2014 (Grant Agreement 645322) and by Regione Toscana within the RONDA Project (Bando FAS Salute 2014).
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Crea, S. et al. (2017). Validation of a Gravity Compensation Algorithm for a Shoulder-Elbow Exoskeleton for Neurological Rehabilitation. In: Ibáñez, J., González-Vargas, J., Azorín, J., Akay, M., Pons, J. (eds) Converging Clinical and Engineering Research on Neurorehabilitation II. Biosystems & Biorobotics, vol 15. Springer, Cham. https://doi.org/10.1007/978-3-319-46669-9_82
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DOI: https://doi.org/10.1007/978-3-319-46669-9_82
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Online ISBN: 978-3-319-46669-9
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