ALEX III: A novel robotic platform with 12 DOFs for human gait training

Damiano Zanotto, Paul Stegall, Sunil K. Agrawal

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

49 Scopus citations

Abstract

ALEX III is a bilateral exoskeleton for gait rehabilitation. It is an evolution of two previous prototypes - ALEX and ALEX II - developed at the University of Delaware. The new robot comprises a support platform and two robotic legs. Its unique characteristic is the possibility to actively control 12 degrees-of-freedom: 4 at the pelvis and 4 for each leg. This paper focuses on the design and fabrication of the robotic leg. Results from early evaluations are presented where the robotic leg is attached to a fixed frame and controlled with a zero-interaction controller.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages3914-3919
Number of pages6
DOIs
StatePublished - 2013
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: 6 May 201310 May 2013

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Country/TerritoryGermany
CityKarlsruhe
Period6/05/1310/05/13

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