This paper presents a design concept for affordable exoskeletons without renouncing to advanced interaction control modalities based on force control technologies. Affordability is reached by (1) lowering the motor requirements, thanks to a smart mechanical design, (2) lowering the sensing requirements, thanks to extensive use of microprocessor DMA, and (3) using low-cost computational platforms. A main finding of this work is that by lowering the motor requirements the exoskeleton improves its inherent force controllability.
Calanca A., Dimo E., Palazzi E., Ferro R., Vicario R., Murr N., et al. (2021). Toward Personal Affordable Exoskeletons with Force Control Capabilities. Association for Computing Machinery [10.1145/3453892.3454005].
Toward Personal Affordable Exoskeletons with Force Control Capabilities
Palazzi E.;Luzi L.;Vertechy R.;
2021
Abstract
This paper presents a design concept for affordable exoskeletons without renouncing to advanced interaction control modalities based on force control technologies. Affordability is reached by (1) lowering the motor requirements, thanks to a smart mechanical design, (2) lowering the sensing requirements, thanks to extensive use of microprocessor DMA, and (3) using low-cost computational platforms. A main finding of this work is that by lowering the motor requirements the exoskeleton improves its inherent force controllability.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
