Please use this identifier to cite or link to this item:
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
Citation: 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.
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
ISBN: 9781467356411
ISSN: 10504729
DOI: 10.1109/ICRA.2013.6630870
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.


checked on Jan 29, 2023

Page view(s)

checked on Feb 2, 2023

Google ScholarTM



Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.