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Contact

Dr. Regine Kleber and

María García

infoJfw4∂heika-research de

HEiKA-EXO - Optimization-based development and control of an exoskeleton for medical applications

HEiKA-EXO - Optimization-based development and control of an exoskeleton for medical applications
Contact:

Prof. Dr. Katja Mombaur, contact
Interdisciplinary Center for Scientific Computing, Heidelberg University

Prof. Dr. Tamim Asfour, contact
Institute of Anthropomatics, KIT

Project Group:

Medical Technology for Health

Startdate:

01.01.2013

Enddate:

31.12.2013

Abstract / Summary

In HEiKA-EXO we investigated design and control of a lower leg exoskeleton for medical applications based on expertise available at KIT in humanoid robotics and the University of Heidelberg in mathematical modeling and optimization. The first exoskeleton prototype features two active degrees of freedom in the knee and ankle joints. In addition to the mechatronics design of the prototype we established a model-based optimization tool for design and motion optimization of tightly coupled human-exoskeleton systems.