Abstract
This paper deals with the design and evaluation of a modular exoskeleton for rehabilitation of lower limb movements. The exoskeleton is composed of lightweight tubular structures and six free joints that provide actuation and configuration modularity to the system. Experiments considering the interaction between a healthy subject and the exoskeleton are performed to evaluate the influence of the exoskeleton structure on kinematic and muscular activity profiles during walking. Also, an optimal impedance controller for exoskeletons was evaluated considering the modular exoskeleton.
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