Design of a flexible fluidic actuation system for a hybrid elbow orthosis

Pylatiuk, Christian; Kargov, A.; Gaiser, I.; Werner, Tino; Schulz, Stefan; Bretthauer, Georg

doi:10.1109/icorr.2009.5209540

Cited by 51 publications

(30 citation statements)

References 17 publications

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“…But nevertheless, all of them clearly match the classification, shown in Figure 6. [85][86][87]; (c) [88]; (d) [53,89]; (e) [90,91]; (f) [92,93].…”

Section: Bio-inspired Actuators With Reference To the Spider Principlementioning

confidence: 99%

“…Overview of bio-inspired actuators related to the spider leg principle. References: (a) [72]; (b) [85][86][87]; (c) [88]; (d) [53,89]; (e) [90,91]; (f) [92,93].…”

Section: Bio-inspired Actuators With Reference To the Spider Principlementioning

confidence: 99%

“…The bearing structure usually consists of segments connected by pivot, hinge, or spherical links [21], which form an endoskeleton [52,53] or exoskeleton [54,55]. Compliant actuators are situated upon the bearing structure.…”

Section: Bio-inspired Robots With Soft Capabilitiesmentioning

confidence: 99%

“…Automatic hand prostheses [95] as well as an elbow orthosis [53,89] shown in (Figure 7d) were developed using the spider's membrane inflation principle. Rotational bellows are placed on endoskeleton limbs.…”

Section: Bio-inspired Actuators With Reference To the Spider Principlementioning

confidence: 99%

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Biomimetic Spider Leg Joints: A Review from Biomechanical Research to Compliant Robotic Actuators

et al. 2016

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Due to their inherent compliance, soft actuated joints are becoming increasingly important for robotic applications, especially when human-robot-interactions are expected. Several of these flexible actuators are inspired by biological models. One perfect showpiece for biomimetic robots is the spider leg, because it combines lightweight design and graceful movements with powerful and dynamic actuation. Building on this motivation, the review article focuses on compliant robotic joints inspired by the function principle of the spider leg. The mechanism is introduced by an overview of existing biological and biomechanical research. Thereupon a classification of robots that are bio-inspired by spider joints is presented. Based on this, the biomimetic robot applications referring to the spider principle are identified and discussed.

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“…But nevertheless, all of them clearly match the classification, shown in Figure 6. [85][86][87]; (c) [88]; (d) [53,89]; (e) [90,91]; (f) [92,93].…”

Section: Bio-inspired Actuators With Reference To the Spider Principlementioning

confidence: 99%

“…Overview of bio-inspired actuators related to the spider leg principle. References: (a) [72]; (b) [85][86][87]; (c) [88]; (d) [53,89]; (e) [90,91]; (f) [92,93].…”

Section: Bio-inspired Actuators With Reference To the Spider Principlementioning

confidence: 99%

Section: Bio-inspired Robots With Soft Capabilitiesmentioning

confidence: 99%

Section: Bio-inspired Actuators With Reference To the Spider Principlementioning

confidence: 99%

See 2 more Smart Citations

Biomimetic Spider Leg Joints: A Review from Biomechanical Research to Compliant Robotic Actuators

et al. 2016

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“…The major disadvantage is that the bandwidth which it is operating on is relatively low (5 Hz) which limit the rate at which they can respond to command signals [121]. Some research groups have used hydraulics actuation in their work [35,67] which has high power to weight ratio. But hydraulic actuator produces less efficient motion if fluid leaks, pressure loss happens.…”

Section: Actuation Mechanismmentioning

confidence: 99%

A Brief Review on Robotic Exoskeletons for Upper Extremity Rehabilitation to Find the Gap between Research Porotype and Commercial Type

et al. 2017

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The number of disabled individuals due to stroke is increasing day by day and is projected to continue increasing at an alarming rate in United States. But the current amount of health professionals in physical therapy is inadequate to provide rehabilitation to these large groups. From early 1990s, researchers have been trying to develop an easy and feasible solution to this problem and lot of assistive devices both end effector type or exoskeleton type have been developed till to date. However, only a few of them have been commercialized and are being used in rehabilitation of post-stroke patients. Making the use of exoskeletons and other devices to regain lost motor function is rare. Providing therapy to this large group is quite impossible without commercializing of exoskeleton. This has motivated the authors to make a literature review and figure the reasons out that need to be solved to bridge the gap between research prototype to commercial version. This paper covers the necessity of incorporating robotic devices in rehabilitation, a brief description of existing devices particularly upper limb exoskeletons, their hardware limitations, and control issues. Our review shows that there are significant flaws in hardware design and developing control algorithm of exoskeletons to be available in rehabilitation program.

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