FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2116767351> ?p ?o ?g. }

• W2116767351 endingPage "69" @default.
• W2116767351 startingPage "60" @default.
• W2116767351 abstract "This article discusses the pros and cons of compliant actuation for rehabilitation robots on the example of LOPES, focusing on the cons. After illustrating the bandwidth limitations, a new result has been derived: if stability in terms of passivity of the haptic device is desired, the renderable stiffness is bounded by the stiffness of the SEA's elastic component. In practical experiments with the VMC, the aforementioned limitations affected the control performance. Desired gait modifications were not tracked exactly, because the subjects were able to deviate from the prescribed pattern even in the stiffest possible configuration. Despite the limitations, the practical experiments also demonstrated the general effectiveness of the realization. Manipulation of selected gait parameters is possible, whereby other parameters are left unaffected. This high selectivity is made possible by the low level of undesired interaction torques, which is achieved by elastic decoupling of motor mass and a lightweight exoskeleton. The discrepancy between theoretical bounds and rendered stiffness indicated that healthy subjects might represent a stabilizing component of the coupled system, which could be different for patients. In light of the theoretical stability analysis and with the focus on patients, the LOPES actuation was slightly modified. The robot was equipped with stiffer springs to obtain sufficient stiffness and to ensure stability without relying on stabilizing effects of the human. For this application, the disadvantages of compliant actuation can thus be tolerated or dealt with, and they are small compared with the advantages. Given that a rehabilitation robot, in the first place, is supposed to imitate therapist action, the limitations of bandwidth and stiffness do not pose severe problems. In contrast, safety and backdrivability are highly relevant, and they can be ensured easier with a compliant actuator. Therefore, we conclude that compliant actuation and a lightweight exoskeleton provide effective means to accomplish the desired AAN behavior of a rehabilitation robot. The next step is to evaluate the robot behavior, control performance, and therapeutic effectiveness in patient studies." @default.
• W2116767351 created "2016-06-24" @default.
• W2116767351 creator A5001880280 @default.
• W2116767351 creator A5007760731 @default.
• W2116767351 creator A5058494702 @default.
• W2116767351 creator A5081223790 @default.
• W2116767351 creator A5083232835 @default.
• W2116767351 creator A5088119149 @default.
• W2116767351 date "2008-09-01" @default.
• W2116767351 modified "2023-10-13" @default.
• W2116767351 title "Compliant actuation of rehabilitation robots" @default.
• W2116767351 cites W1492704411 @default.
• W2116767351 cites W1578038264 @default.
• W2116767351 cites W1968650413 @default.
• W2116767351 cites W1972194218 @default.
• W2116767351 cites W1983394866 @default.
• W2116767351 cites W2023902525 @default.
• W2116767351 cites W2047688129 @default.
• W2116767351 cites W2057077444 @default.
• W2116767351 cites W2059248226 @default.
• W2116767351 cites W2066751209 @default.
• W2116767351 cites W2086587468 @default.
• W2116767351 cites W2105921162 @default.
• W2116767351 cites W2124780025 @default.
• W2116767351 cites W2132604341 @default.
• W2116767351 cites W2136715573 @default.
• W2116767351 cites W2138300314 @default.
• W2116767351 cites W2141282574 @default.
• W2116767351 cites W2142117918 @default.
• W2116767351 cites W2142529534 @default.
• W2116767351 cites W2145178207 @default.
• W2116767351 cites W2147288676 @default.
• W2116767351 cites W2151144728 @default.
• W2116767351 cites W2161839080 @default.
• W2116767351 cites W2164263004 @default.
• W2116767351 cites W2165536887 @default.
• W2116767351 cites W2166869394 @default.
• W2116767351 doi "https://doi.org/10.1109/mra.2008.927689" @default.
• W2116767351 hasPublicationYear "2008" @default.
• W2116767351 type Work @default.
• W2116767351 sameAs 2116767351 @default.
• W2116767351 citedByCount "389" @default.
• W2116767351 countsByYear W21167673512012 @default.
• W2116767351 countsByYear W21167673512013 @default.
• W2116767351 countsByYear W21167673512014 @default.
• W2116767351 countsByYear W21167673512015 @default.
• W2116767351 countsByYear W21167673512016 @default.
• W2116767351 countsByYear W21167673512017 @default.
• W2116767351 countsByYear W21167673512018 @default.
• W2116767351 countsByYear W21167673512019 @default.
• W2116767351 countsByYear W21167673512020 @default.
• W2116767351 countsByYear W21167673512021 @default.
• W2116767351 countsByYear W21167673512022 @default.
• W2116767351 countsByYear W21167673512023 @default.
• W2116767351 crossrefType "journal-article" @default.
• W2116767351 hasAuthorship W2116767351A5001880280 @default.
• W2116767351 hasAuthorship W2116767351A5007760731 @default.
• W2116767351 hasAuthorship W2116767351A5058494702 @default.
• W2116767351 hasAuthorship W2116767351A5081223790 @default.
• W2116767351 hasAuthorship W2116767351A5083232835 @default.
• W2116767351 hasAuthorship W2116767351A5088119149 @default.
• W2116767351 hasConcept C112972136 @default.
• W2116767351 hasConcept C119599485 @default.
• W2116767351 hasConcept C119857082 @default.
• W2116767351 hasConcept C120665830 @default.
• W2116767351 hasConcept C121332964 @default.
• W2116767351 hasConcept C127413603 @default.
• W2116767351 hasConcept C133731056 @default.
• W2116767351 hasConcept C144171764 @default.
• W2116767351 hasConcept C146549078 @default.
• W2116767351 hasConcept C152086174 @default.
• W2116767351 hasConcept C154945302 @default.
• W2116767351 hasConcept C168167062 @default.
• W2116767351 hasConcept C172707124 @default.
• W2116767351 hasConcept C192209626 @default.
• W2116767351 hasConcept C205606062 @default.
• W2116767351 hasConcept C2775862927 @default.
• W2116767351 hasConcept C2775924081 @default.
• W2116767351 hasConcept C2778809601 @default.
• W2116767351 hasConcept C2779372316 @default.
• W2116767351 hasConcept C41008148 @default.
• W2116767351 hasConcept C44154836 @default.
• W2116767351 hasConcept C47446073 @default.
• W2116767351 hasConcept C66938386 @default.
• W2116767351 hasConcept C90509273 @default.
• W2116767351 hasConcept C97355855 @default.
• W2116767351 hasConceptScore W2116767351C112972136 @default.
• W2116767351 hasConceptScore W2116767351C119599485 @default.
• W2116767351 hasConceptScore W2116767351C119857082 @default.
• W2116767351 hasConceptScore W2116767351C120665830 @default.
• W2116767351 hasConceptScore W2116767351C121332964 @default.
• W2116767351 hasConceptScore W2116767351C127413603 @default.
• W2116767351 hasConceptScore W2116767351C133731056 @default.
• W2116767351 hasConceptScore W2116767351C144171764 @default.
• W2116767351 hasConceptScore W2116767351C146549078 @default.
• W2116767351 hasConceptScore W2116767351C152086174 @default.
• W2116767351 hasConceptScore W2116767351C154945302 @default.
• W2116767351 hasConceptScore W2116767351C168167062 @default.

• next