Variable Stiffness Mechanism for Robotic Rehabilitation

Carl A. Nelson; Laurence Nouaille; Gérard Poisson

doi:10.1007/978-3-030-20131-9_174

Variable Stiffness Mechanism for Robotic Rehabilitation

Carl A. Nelson, Laurence Nouaille, Gérard Poisson

Mechanical & Materials Engineering

Research output: Contribution to journal › Article › peer-review

5 Scopus citations

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 language	English (US)
Pages (from-to)	1761-1769
Number of pages	9
Journal	Mechanisms and Machine Science
Volume	73
DOIs	https://doi.org/10.1007/978-3-030-20131-9_174
State	Published - 2019

Keywords

Compliant Mechanisms
Robotic Rehabilitation
Variable Stiffness

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering

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10.1007/978-3-030-20131-9_174

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title = "Variable Stiffness Mechanism for Robotic Rehabilitation",

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.",

keywords = "Compliant Mechanisms, Robotic Rehabilitation, Variable Stiffness",

author = "Nelson, {Carl A.} and Laurence Nouaille and G{\'e}rard Poisson",

note = "Funding Information: The work described in this paper was supported in part by the University of Orl{\'e}ans. Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG.",

year = "2019",

doi = "10.1007/978-3-030-20131-9_174",

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AU - Nelson, Carl A.

AU - Nouaille, Laurence

AU - Poisson, Gérard

PY - 2019

Y1 - 2019

N2 - 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.

AB - 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.

KW - Compliant Mechanisms

KW - Robotic Rehabilitation

KW - Variable Stiffness

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M3 - Article

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JO - Mechanisms and Machine Science

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ER -

Variable Stiffness Mechanism for Robotic Rehabilitation

Abstract

Keywords

ASJC Scopus subject areas

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