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This abstract presents three mechatronic concepts with a high potential for the design of affordable force-controlled exoskeletons. These concepts allow to reduce costs and improve exoskeleton controllability at the same time. The concepts are related to (1) how to avoid oversizing actuators to obtain more lightweight, affordable, and transparent systems (2) how to enhance force controllability by mechanics (3) how to improve device transparency.

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Mechatronic Solutions for Force-Controlled Wearable Robotics

  • 会议论文

  • 发表日期：

    2025年

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  • Eldison Dimo,
  • Davide Costanziand,
  • Andrea Calanca

摘要

This abstract presents three mechatronic concepts with a high potential for the design of affordable force-controlled exoskeletons. These concepts allow to reduce costs and improve exoskeleton controllability at the same time. The concepts are related to (1) how to avoid oversizing actuators to obtain more lightweight, affordable, and transparent systems (2) how to enhance force controllability by mechanics (3) how to improve device transparency.