This paper presents the development of a portable version of the robotic elbow exoskeleton NEUROExos, designed for the treatment of stroke survivors in acute/sub-acute phases. The design was improved by a novel Series Elastic Actuation (SEA) system. The system implements two control modalities: a near-zero output impedance torque control and a passive-compliance position control.
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| http://dx.doi.org/10.1109/EMBC.2013.6609507 | DOI Listing |
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