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Self-Aligning Exoskeleton Axes Through Decoupling of Joint Rotations and Translations

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4 Author(s)
Stienen, A.H.A. ; Lab. for Biomech. Eng., Univ. of Twente, Enschede ; Hekman, E.E.G. ; van der Helm, F.C.T. ; van der Kooij, H.

To automatically align exoskeleton axes to human anatomical axes, we propose to decouple the joint rotations from the joint translations. Decoupling can reduce setup times and painful misalignment forces, at the cost of increased mechanical complexity and movement inertia. The decoupling approach was applied to the Dampace and Limpact exoskeletons.

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Robotics, IEEE Transactions on  (Volume:25 ,  Issue: 3 )