Virtual impedance adjustment in unconstrained motion for an exoskeletal robot assisting the lower limb

Abstract

The objective of this paper is to establish the criteria for adjusting the virtual impedance of an exoskeletal robot for the lower limb in order to minimize the operator’s physical stress in unconstrained motion. The exoskeletal robot HAL (Hybrid Assistive Limb)-3 which we developed for assisting the motor function of the lower limb was used for experiments… (More)
DOI: 10.1163/1568553054455095

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