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Development of compact series elastic actuators for lower limb exoskeletons

Grant number: 19/23413-5
Support type:Scholarships in Brazil - Scientific Initiation
Effective date (Start): January 01, 2020
Effective date (End): December 31, 2020
Field of knowledge:Engineering - Mechanical Engineering
Principal researcher:Adriano Almeida Gonçalves Siqueira
Grantee:Fabio Henrique Masetto de Gaitani
Home Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

In this project, a new rotary Series Elastic Actuator (rSEA), more compact and lightweight, will be developed aiming to be coupled to the robotic exoskeleton Exo-TAO (Transparent Active Orthosis), designed and built in the Laboratory of Robotic Rehabilitation from EESC/USP. Such equipment is being developed to aid the rehabilitation of post operatives process and cognitive injuries that affect mobility. It will be used techniques of torque and impedance control to ensure security during the interaction between the user and the exoskeleton, seeking a better performance of the actuator even in the presence of external disturbances and uncertainties of the model. it is intended to obtain experimental results of the proposed controllers on a testbed and during the use of the exoskeleton. (AU)

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