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dc.contributor.authorXiloyannis, Micheleen
dc.contributor.authorCappello, Leonardoen
dc.contributor.authorKhanh Dinh, Binhen
dc.contributor.authorAntuvan, Chris Wilsonen
dc.contributor.authorMasia, Lorenzoen
dc.identifier.citationXiloyannis, M., Cappello, L., Khanh Dinh, B., Antuvan, C. W., & Masia, L. (2016). Design and Preliminary Testing of a Soft Exosuit for Assisting Elbow Movements and Hand Grasping. The 3rd International Conference on NeuroRehabilitation, 557-561.en
dc.description.abstractMost of the currently available exoskeletons for upper limbs are constrained by limited portability, ergonomics, weight and, energy-wise, autonomy. Moreover, their high cost makes them available only for the most affluent users, ruling out the majority of the population in need. By replacing rigid aluminum links and transmissions with fabrics and bowden cables, we can both cut down the cost of the assistive device and design it to be portable, comfortable and lightweight. We present the design and a preliminary testing of a soft exosuit for assisting elbow flexion/extension and hand open/close. Our system comprises two proximally located tendon-driving actuators, and two textile-based frames that route the tendons and transmit forces to the human joints, namely an elbow sleeve and a glove. A preliminary test on a healthy subject is presented with an adaptive controller that achieves good tracking accuracy despite of the system’s non-linear and time-varying dynamics.en
dc.format.extent2 p.en
dc.rights© 2017 Springer International Publishing AG. This is the author created version of a work that has been peer reviewed and accepted for publication by Proceedings of the 3rd International Conference on NeuroRehabilitation (ICNR2016), Springer International Publishing AG. It incorporates referee’s comments but changes resulting from the publishing process, such as copyediting, structural formatting, may not be reflected in this document. The published version is available at: [].en
dc.subjectSoft exosuiten
dc.subjectPreliminary Testingen
dc.titleDesign and Preliminary Testing of a Soft Exosuit for Assisting Elbow Movements and Hand Graspingen
dc.typeConference Paperen
dc.contributor.schoolSchool of Mechanical and Aerospace Engineeringen
dc.contributor.schoolInterdisciplinary Graduate School (IGS)en
dc.contributor.conferenceThe 3rd International Conference on NeuroRehabilitation (3rd:2016:Segovia, Spain)en
dc.description.versionAccepted versionen
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