Design of variable impedance actuator for knee joint of a portable human gait rehabilitation exoskeleton

This paper presents the design of a variable impedance actuator, called BAFSA, for the knee joint of a portable human gait rehabilitation exoskeleton. Such an actuator is specifically tailored to this joint, aimed at the application of robotic-assisted gait training therapies to restore the normal function of the impaired knee, taking into account kinematics, kinetics and anthropometric requirements along the gait cycle. Mechanical design and...