Design of a compliantly actuated exo-skeleton for an impedance controlled gait trainer robot

Herman Van Der Kooij; Jan Veneman; Ralf Ekkelenkamp

doi:10.1109/IEMBS.2006.259397

Design of a compliantly actuated exo-skeleton for an impedance controlled gait trainer robot

Herman Van Der Kooij^*
, Jan Veneman
, Ralf Ekkelenkamp

^*Corresponding author for this work

University of Twente

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

32 Citations (Scopus)

Abstract

We have designed and built a lower extremity powered exo-skeleton (LOPES) for the training of post-stroke patients. This paper describes the philosophy behind the design of LOPES (Fig. 1), motivates the choices that have been made and gives some exemplary results of the ranges of mechanical impedances that can be achieved.

Original language	English
Title of host publication	28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06
Pages	189-193
Number of pages	5
DOIs	https://doi.org/10.1109/IEMBS.2006.259397
Publication status	Published - 2006
Externally published	Yes
Event	28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06 - New York, NY, United States Duration: 30 Aug 2006 → 3 Sept 2006

Publication series

Name	Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings
ISSN (Print)	0589-1019

Conference

Conference	28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06
Country/Territory	United States
City	New York, NY
Period	30/08/06 → 3/09/06

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

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10.1109/IEMBS.2006.259397

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Van Der Kooij, H., Veneman, J., & Ekkelenkamp, R. (2006). Design of a compliantly actuated exo-skeleton for an impedance controlled gait trainer robot. In 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06 (pp. 189-193). Article 4030493 (Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings). https://doi.org/10.1109/IEMBS.2006.259397

Van Der Kooij, Herman ; Veneman, Jan ; Ekkelenkamp, Ralf. / Design of a compliantly actuated exo-skeleton for an impedance controlled gait trainer robot. 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06. 2006. pp. 189-193 (Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings).

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abstract = "We have designed and built a lower extremity powered exo-skeleton (LOPES) for the training of post-stroke patients. This paper describes the philosophy behind the design of LOPES (Fig. 1), motivates the choices that have been made and gives some exemplary results of the ranges of mechanical impedances that can be achieved.",

author = "\{Van Der Kooij\}, Herman and Jan Veneman and Ralf Ekkelenkamp",

year = "2006",

doi = "10.1109/IEMBS.2006.259397",

language = "English",

isbn = "1424400325",

series = "Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings",

pages = "189--193",

booktitle = "28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06",

note = "28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06 ; Conference date: 30-08-2006 Through 03-09-2006",

}

Van Der Kooij, H, Veneman, J & Ekkelenkamp, R 2006, Design of a compliantly actuated exo-skeleton for an impedance controlled gait trainer robot. in 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06., 4030493, Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings, pp. 189-193, 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06, New York, NY, United States, 30/08/06. https://doi.org/10.1109/IEMBS.2006.259397

Design of a compliantly actuated exo-skeleton for an impedance controlled gait trainer robot. / Van Der Kooij, Herman; Veneman, Jan; Ekkelenkamp, Ralf.
28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06. 2006. p. 189-193 4030493 (Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Van Der Kooij H, Veneman J, Ekkelenkamp R. Design of a compliantly actuated exo-skeleton for an impedance controlled gait trainer robot. In 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06. 2006. p. 189-193. 4030493. (Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings). doi: 10.1109/IEMBS.2006.259397

Design of a compliantly actuated exo-skeleton for an impedance controlled gait trainer robot

Abstract

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