Joint Misalignment in Robotic Rehabilitation Exoskeletons, Problem and Possible Solutions
نویسندگان
چکیده
Joint misalignment is a potential problem in robotic rehabilitation exoskeletons that can cause undesired disturbing forces. These forces can reduce the usability of such systems by constraining joint movements and by imposing uncomfortable or even harmful forces on the human. Different technical solutions to reduce the effect of misalignment are possible and in this paper we present one mechanical solution to reduce the negative effects of misalignment in lower limb robotic rehabilitation exoskeletons. The problem of misalignment is discussed and a mechanism that integrates dedicated misalignment compensation joints is presented. Finally, to validate the presented mechanism, an experiment was conducted to determine if it is able to reduce undesired misalignment forces.
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