Please use this identifier to cite or link to this item: https://doi.org/10.1109/ICRA.2013.6630870
Title: Mechanical design of a portable knee-ankle-foot robot
Authors: Yu, H.
Cruz, M.S.
Chen, G.
Huang, S. 
Zhu, C.
Chew, E.
Ng, Y.S.
Thakor, N.V.
Issue Date: 2013
Source: Yu, H.,Cruz, M.S.,Chen, G.,Huang, S.,Zhu, C.,Chew, E.,Ng, Y.S.,Thakor, N.V. (2013). Mechanical design of a portable knee-ankle-foot robot. Proceedings - IEEE International Conference on Robotics and Automation : 2183-2188. ScholarBank@NUS Repository. https://doi.org/10.1109/ICRA.2013.6630870
Abstract: We are developing an intelligent compact and modular knee-ankle-foot robot gait rehabilitation at outpatient and home settings. The robot is designed with a novel compact compliant force controllable actuator. We adopt a modular design for the knee and ankle joint so that the robot can assist patients with different conditions of gait impairments. The light-weight anthropomorphic structure designed based on biomechanical studies is built with advanced composite materials to achieve portability. A prototype of the robot has been built for testing. In this paper, we present the mechanical design of the robot with focus on the actuator and mechanism design and analysis, with testing results to demonstrate the performance of the actuator. © 2013 IEEE.
Source Title: Proceedings - IEEE International Conference on Robotics and Automation
URI: http://scholarbank.nus.edu.sg/handle/10635/70901
ISBN: 9781467356411
ISSN: 10504729
DOI: 10.1109/ICRA.2013.6630870
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