Archivio Istituzionale della RicercaOne of the critical issues in the design of an exoskeleton is the matching between exoskeleton's and human's kinematic chains. The misalignments between the exoskeleton and human joints' rotation axes may reduce the support action provided by an exoskeleton or introduce shear forces on the human limbs at the attachment points of the exoskeleton. This paper aims to assess the effect of misalignments in the design of a custom industrial upper limb passive exoskeleton based on McKibben's muscles.
Effect of Joint Misalignment in Upper Limb Exoskeleton Based on McKibben Muscles / Paterna, Maria; De Benedictis, Carlo; Ferraresi, Carlo. - ELETTRONICO. - 164:(2024), pp. 35-42. (Intervento presentato al convegno 5th International Conference of IFToMM Italy (2024) tenutosi a Turin (IT) nel 11-13 settembre 2024) [10.1007/978-3-031-64569-3_5].
Effect of Joint Misalignment in Upper Limb Exoskeleton Based on McKibben Muscles
Paterna, Maria;De Benedictis, Carlo;Ferraresi, Carlo
2024
Abstract
One of the critical issues in the design of an exoskeleton is the matching between exoskeleton's and human's kinematic chains. The misalignments between the exoskeleton and human joints' rotation axes may reduce the support action provided by an exoskeleton or introduce shear forces on the human limbs at the attachment points of the exoskeleton. This paper aims to assess the effect of misalignments in the design of a custom industrial upper limb passive exoskeleton based on McKibben's muscles.
Pubblicazioni consigliate
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
https://hdl.handle.net/11583/2992126
Attenzione
Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo