TY - GEN
T1 - Design of a minimally constraining, passively supported gait training exoskeleton
T2 - Rehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011
AU - Winfree, Kyle N.
AU - Stegall, Paul
AU - Agrawal, Sunil K.
PY - 2011
Y1 - 2011
N2 - This paper discusses the design of a new, minimally constraining, passively supported gait training exoskeleton known as ALEX II. This device builds on the success and extends the features of the ALEX I device developed at the University of Delaware. Both ALEX (Active Leg EXoskeleton) devices have been designed to supply a controllable torque to a subject's hip and knee joint. The current control strategy makes use of an assist-as-needed algorithm. Following a brief review of previous work motivating this redesign, we discuss the key mechanical features of the new ALEX device. A short investigation was conducted to evaluate the effectiveness of the control strategy and impact of the exoskeleton on the gait of six healthy subjects. This paper concludes with a comparison between the subjects' gait both in and out of the exoskeleton.
AB - This paper discusses the design of a new, minimally constraining, passively supported gait training exoskeleton known as ALEX II. This device builds on the success and extends the features of the ALEX I device developed at the University of Delaware. Both ALEX (Active Leg EXoskeleton) devices have been designed to supply a controllable torque to a subject's hip and knee joint. The current control strategy makes use of an assist-as-needed algorithm. Following a brief review of previous work motivating this redesign, we discuss the key mechanical features of the new ALEX device. A short investigation was conducted to evaluate the effectiveness of the control strategy and impact of the exoskeleton on the gait of six healthy subjects. This paper concludes with a comparison between the subjects' gait both in and out of the exoskeleton.
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U2 - 10.1109/ICORR.2011.5975499
DO - 10.1109/ICORR.2011.5975499
M3 - Conference contribution
C2 - 22275695
AN - SCOPUS:80055047219
SN - 9781424498628
T3 - IEEE International Conference on Rehabilitation Robotics
BT - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011
Y2 - 27 June 2011 through 1 July 2011
ER -