부산대학교 도서관

Diagonal spring elements can render torque to any orthotic joint, and here we describe the theoretical framework for an ExoNET device that utilizes stacked spring elements as torque generators. Stacked spring elements act mathematically as basis functions, which can be simultaneously tuned to deliver any torque-angle relation. Here we outline the theory, demonstrate our initial developments in several example applications, and then describe the design considerations necessary to develop a functional prototype. We show several exemplary solutions: replicating the torque-angle profile of a single muscle (brachioradialis), two-joint gravity compensation for arm weight, error augmentation and limit push fields capable of providing forces for rehabilitation, and attractor torque fields that collectively pull the arm towards a desired position. This ExoNET system has the potential to be quickly and inexpensively constructed and easily configured by the end user or clinician for specific needs. It shifts control intelligence from the software to physical hardware, which is an efficient solution for neurorehabilitation, military, manual labor, and performance enhancement.