Design and control of a lower-limb exoskeleton emulator for accelerated development of gait exoskeletons
Robotic exoskeletons for gait assistance carry the potential to dramatically improve the quality of life for individuals with hemiparesis resulting from a stroke. This thesis presents the design and implementation of a modular lower-limb exoskeleton emulator: a new research platform intended for accelerated research into and development of lower-limb exoskeletons. The device features five lightweight, modular braces for human interface with ten total lower-limb degrees of freedom. Braces are actuated by four off-board motors via Bowden-cable transmission. A closed-loop controller utilizing ...
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