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.
Toward Personal Affordable Exoskeletons with Force Control Capabilities
Calanca, A.;Dimo, E.;Palazzi, E.;Ferro, R.;Vicario, R.;Murr, N.;Meneghetti, M.;Costanzi, D.;Luzi, L.;
2021-01-01
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.
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