Conference Proceedings

BioMot Exoskeleton - Towards a Smart Wearable Robot for Symbiotic Human-Robot Interaction

Tomislav Bacek, Marta Moltedo, Kevin Langlois, Guillermo Asin Prieto, Maria Carmen Sanchez-Villamanan, Jose Gonzalez-Vargas, Bram Vanderborght, Dirk Lefeber, Juan C Moreno, F Amirabdollahian (ed.), E Burdet (ed.), L Masia (ed.)

2017 INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR) | IEEE | Published : 2017

Abstract

This paper presents design of a novel modular lower-limb gait exoskeleton built within the FP7 BioMot project. Exoskeleton employs a variable stiffness actuator in all 6 joints, a directional-flexibility structure and a novel physical humanrobot interfacing, which allows it to deliver the required output while minimally constraining user's gait by providing passive degrees of freedom. Due to modularity, the exoskeleton can be used as a full lower-limb orthosis, a single-joint orthosis in any of the three joints, and a two-joint orthosis in a combination of any of the two joints. By employing a simple torque control strategy, the exoskeleton can be used to deliver user-specific assistance, bo..

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University of Melbourne Researchers

Grants

Awarded by European Commission


Awarded by FWO project


Funding Acknowledgements

The presented work was developed within the project BioMot (European Commission's 7th Framework Program, Grant Agreement number IFP7-ICT-2013-10-611695) and it is supported by FWO project (no.G026214N).