TY - GEN
T1 - Description, characterization and assessment of a bio-inspired shoulder joint-first link robot for neuro-robotic applications
AU - Sardellitti, Irene
AU - Cattin, Emanuele
AU - Roccella, Stefano
AU - Vecchi, Fabrizio
AU - Carrozza, Maria Chiara
AU - Dario, Paolo
AU - Artemiadis, Panagiotis K.
AU - Kyriakopoulos, Kostas J.
PY - 2006/12/22
Y1 - 2006/12/22
N2 - 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.
AB - 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.
KW - Biomechanical model
KW - Exoskeleton
KW - Neuro-rehabilitation
KW - Neuro-robotics
KW - Robotic arm
UR - http://www.scopus.com/inward/record.url?scp=33845563834&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845563834&partnerID=8YFLogxK
U2 - 10.1109/BIOROB.2006.1639069
DO - 10.1109/BIOROB.2006.1639069
M3 - Conference contribution
AN - SCOPUS:33845563834
SN - 1424400406
SN - 9781424400409
T3 - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
SP - 112
EP - 117
BT - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
T2 - 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Y2 - 20 February 2006 through 22 February 2006
ER -