A Review on Compliant Joint Mechanisms for Lower Limb Exoskeletons
Lower limb exoskeletons are experiencing a rapid development that may suggest a prompt introduction to the market. These devices have an inherent close interaction with the human body; therefore, it is necessary to ensure user’s safety and comfort. The first exoskeletal designs used to represent the...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Wiley
2016-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2016/5751391 |
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| _version_ | 1832550176802209792 |
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| author | Miguel A. Gálvez-Zúñiga Alejandro Aceves-López |
| author_facet | Miguel A. Gálvez-Zúñiga Alejandro Aceves-López |
| author_sort | Miguel A. Gálvez-Zúñiga |
| collection | DOAJ |
| description | Lower limb exoskeletons are experiencing a rapid development that may suggest a prompt introduction to the market. These devices have an inherent close interaction with the human body; therefore, it is necessary to ensure user’s safety and comfort. The first exoskeletal designs used to represent the human joints as simple revolute joints. This approximation introduces an axial misalignment issue, which generates uncontrollable internal forces. A mathematical description of the said misalignments is provided to better understand the concept and its consequences. This review will only focus on mechanisms aiming to comply with its user. |
| format | Article |
| id | doaj-art-e67b734342c642f7bdf899540b2cb234 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-e67b734342c642f7bdf899540b2cb2342025-02-03T06:07:32ZengWileyJournal of Robotics1687-96001687-96192016-01-01201610.1155/2016/57513915751391A Review on Compliant Joint Mechanisms for Lower Limb ExoskeletonsMiguel A. Gálvez-Zúñiga0Alejandro Aceves-López1Tecnologico de Monterrey, CEM, 52926 Atizapan, Mexico City, MexicoTecnologico de Monterrey, CEM, 52926 Atizapan, Mexico City, MexicoLower limb exoskeletons are experiencing a rapid development that may suggest a prompt introduction to the market. These devices have an inherent close interaction with the human body; therefore, it is necessary to ensure user’s safety and comfort. The first exoskeletal designs used to represent the human joints as simple revolute joints. This approximation introduces an axial misalignment issue, which generates uncontrollable internal forces. A mathematical description of the said misalignments is provided to better understand the concept and its consequences. This review will only focus on mechanisms aiming to comply with its user.http://dx.doi.org/10.1155/2016/5751391 |
| spellingShingle | Miguel A. Gálvez-Zúñiga Alejandro Aceves-López A Review on Compliant Joint Mechanisms for Lower Limb Exoskeletons Journal of Robotics |
| title | A Review on Compliant Joint Mechanisms for Lower Limb Exoskeletons |
| title_full | A Review on Compliant Joint Mechanisms for Lower Limb Exoskeletons |
| title_fullStr | A Review on Compliant Joint Mechanisms for Lower Limb Exoskeletons |
| title_full_unstemmed | A Review on Compliant Joint Mechanisms for Lower Limb Exoskeletons |
| title_short | A Review on Compliant Joint Mechanisms for Lower Limb Exoskeletons |
| title_sort | review on compliant joint mechanisms for lower limb exoskeletons |
| url | http://dx.doi.org/10.1155/2016/5751391 |
| work_keys_str_mv | AT miguelagalvezzuniga areviewoncompliantjointmechanismsforlowerlimbexoskeletons AT alejandroaceveslopez areviewoncompliantjointmechanismsforlowerlimbexoskeletons AT miguelagalvezzuniga reviewoncompliantjointmechanismsforlowerlimbexoskeletons AT alejandroaceveslopez reviewoncompliantjointmechanismsforlowerlimbexoskeletons |