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
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..View full abstract
Awarded by European Commission
Awarded by FWO project
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).