Variable Stiffness Mechanism for Robotic Rehabilitation

Carl A. Nelson, Laurence Nouaille, Gérard Poisson

Research output: Chapter in Book/Report/Conference proceeding › Chapter

Abstract

This paper presents a variable stiffness mechanism suitable for use in robotic rehabilitation. By inherently varying both the magnitude and direction of loading in the mechanism using a single input, a large variation in effective stiffness is achieved. Design and analysis of the variable stiffness mechanism are presented, along with an example illustrating performance capabilities.

Original languageEnglish (US)
Title of host publicationMechanisms and Machine Science
PublisherSpringer Netherlands
Pages1761-1769
Number of pages9
DOIs
StatePublished - Jan 1 2019

Publication series

NameMechanisms and Machine Science
Volume73
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Keywords

  • Compliant Mechanisms
  • Robotic Rehabilitation
  • Variable Stiffness

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

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    Nelson, C. A., Nouaille, L., & Poisson, G. (2019). Variable Stiffness Mechanism for Robotic Rehabilitation. In Mechanisms and Machine Science (pp. 1761-1769). (Mechanisms and Machine Science; Vol. 73). Springer Netherlands. https://doi.org/10.1007/978-3-030-20131-9_174