Description, characterization and assessment of a bio-inspired shoulder joint-first link robot for neuro-robotic applications

Irene Sardellitti, Emanuele Cattin, Stefano Roccella, Fabrizio Vecchi, Maria Chiara Carrozza, Paolo Dario, Panagiotis K. Artemiadis, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Scopus citations

Abstract

The development of innovative exoskeletons for the upper limb requires a strong collaboration between robotics and neuroscience. The robotic system will be deeply coupled to the human user and the exoskeleton design should be based on the human model in terms of biomechanics, and control and learning strategies. This paper presents the preliminary results of the design process of the Neurobotics exoskeleton (NEUROexos). A bioinspired three joints-three links robotic arm is under development for implementing bioinspired control strategies and for obtaining a human-like robotic arm to be used for assessing active exoskeletons in fully safe conditions. In particular, this paper presents the shoulder joint-first link prototype, the selected actuation system, the actuator modelling and identification, and the experimental evaluation of the prototype capability to replicate the human shoulder kinematics during the execution of a catching task.

Original languageEnglish (US)
Title of host publicationProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Pages112-117
Number of pages6
DOIs
StatePublished - Dec 22 2006
Event1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy
Duration: Feb 20 2006Feb 22 2006

Publication series

NameProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Volume2006

Other

Other1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
CountryItaly
CityPisa
Period2/20/062/22/06

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Keywords

  • Biomechanical model
  • Exoskeleton
  • Neuro-rehabilitation
  • Neuro-robotics
  • Robotic arm

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Sardellitti, I., Cattin, E., Roccella, S., Vecchi, F., Carrozza, M. C., Dario, P., Artemiadis, P. K., & Kyriakopoulos, K. J. (2006). Description, characterization and assessment of a bio-inspired shoulder joint-first link robot for neuro-robotic applications. In Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 (pp. 112-117). [1639069] (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006; Vol. 2006). https://doi.org/10.1109/BIOROB.2006.1639069