This paper presents ExoFlex, an upper-limb flexible exoskeleton (exosuit) intended for assistance in elbow and shoulder rehabilitation therapies. The soft nature of the device allows it to easily adapt to human biomechanics. The presented exosuit is equipped with a cable-driven transmission in which torque is generated by two direct current (DC) motors. A super-twisting sliding mode controller (SMC) has been simulated and implemented for elbow and shoulder flexion and extension movements. ExoFlex has proven to effectively assist its wearer in experimental tests.
ExoFlex: An Upper-Limb Cable-Driven Exosuit
Advs in Intelligent Syst., Computing
Iberian Robotics conference ; 2019 ; Porto, Portugal November 20, 2019 - November 22, 2019
2019-11-20
12 pages
Article/Chapter (Book)
Electronic Resource
English
ExoFlex: An Upper-Limb Cable-Driven Exosuit
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