Chapter 1 - High-performance soft wearable robots for human augmentation and gait rehabilitation

Abstract

Wearable robots are designed to assist people, thus their operation is based on a highly dynamic human–robot interaction. In order to make this interaction as effective as possible, the design of an exoskeleton is subject to challenging requirements involving its mechanical components prior to the control algorithms. Actuator, transmission, and wearable structure play a crucial role in determining the performance of a wearable robot. Current high-performance exoskeletons leverage a new actuation paradigm, so-called quasi-direct drive (QDD) actuation, to enhance a safe and compliant behavior without renouncing a high torque density.