Capítulo de Libro
Variable Stiffness Actuators for Wearable Applications in Gait Rehabilitation
Título del libro: Interfacing Humans and Robots for Gait Assistance and Rehabilitation
Gomez Vargas, Daniel; Casas Bocanegra, Diego; Múnera, Marcela; Roberti, Flavio
; Carelli Albarracin, Ricardo Oscar
; Cifuentes Garcia, Carlos Andres
![Icon](/themes/CONICETDigital/images/conicet.png)
![Icon](/themes/CONICETDigital/images/conicet.png)
Fecha de publicación:
2021
Editorial:
Springer Nature Switzerland AG
ISBN:
978-3-030-79630-3
Idioma:
Inglés
Clasificación temática:
Resumen
Variable stiffness actuators (VSAs) have emerged as a promising actuation principle for devices focused on physical interaction. Specifically, characteristics such as shock load absorbing, passive backdrivability, and variable device performance motivate the use of VSA in a rehabilitation context. Multiple studies have exhibited the advantages of applying VSA in gait assistance, improving the human–robot interaction, and preserving the device in complex interaction applications. This chapter presents an overview of VSAs and their potential applications in gait rehabilitation. The first part explains the VSA concepts, several configurations to accomplish this behavior, and some devices based on this principle. The second part shows the portable and wearable T-FLEX ankle exoskeleton, focusing on its mechanical and electronic design. Lastly, this chapter presents two experimental validations with healthy subjects in gait assistance and stationary therapy scenarios.
Palabras clave:
Robótica de rehabiltación
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Citación
Gomez Vargas, Daniel; Casas Bocanegra, Diego; Múnera, Marcela; Roberti, Flavio; Carelli Albarracin, Ricardo Oscar; et al.; Variable Stiffness Actuators for Wearable Applications in Gait Rehabilitation; Springer Nature Switzerland AG; 2021; 193-212
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