Design of a GAit Rehabilitation Exoskeleton
Pneumatic artificial muscle (PAM) actuated rehabilitation robots have been widely researched, because of PAM's intrinsic compliance and high power-to-weight ratio. Task-specific gait rehabilitation training imposes strict torque, range of motion (ROM) and bandwidth requirements to the robotic exoskeleton design. However, the PAM's nonlinear and hysteresis behaviour, slow pressure dynamics and negative correlation between its force output and contracting length make the development even more challenging. To address such challenges, a new robotic GAit Rehabilitation EXoskeleton (GAREX) has been developed in order to facilitate task-specific gait rehabilitation with controlled intrinsic compliance. GAREX was designed for the experiments with human subjects. Several implementations ensure the safety of the subject, which is of paramount importance. GAREX has modular design to accommodate anthropometrics of most of the population.
Design of a GAit Rehabilitation Exoskeleton, Page 1 of 2
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