A Series Elastic- and Bowden-Cable-Based Actuation System for Use as Torque Actuator in Exoskeleton-Type Robots

By J. Veneman, R. Ekkelenkamp, R. Kruidhof, F. V. D. Helm, H. V. D. Kooij. Int. J. Robotics Res., 2006

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Lower Limb Wearable Robots for Assistance and Rehabilitation: A State of the Art (2016, background): “[48] developed a series elastic and Bowden-cable-based ac-”
Recent developments and challenges of lower extremity exoskeletons (2015, background): “Literature has suggested that physical guiding lower limb movement may decrease motor learning, and the patient’s effort and participation in the training, and thus may not achieve effective training [57].”
Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation (2007, methodology): “Impedance control implies that the interaction control is based on position sensing combined with force actuation [2], [17].”
Robot assisted gait training with active leg exoskeleton (ALEX) (2009, methodology): “…purpose merely moved the leg of a stroke survivor or spinal chord injury patient in a fixed repetitive pattern, in later studies a different strategies were developed in which patient’s voluntary participation in the rehabilitation process is sought, as the later method is more optimal [2], [3].”
Compliant actuation of rehabilitation robots (2008, methodology): “The concept, construction, and functionality of these joints are described extensively in [9].”
Human–Robot Interaction Control of Rehabilitation Robots With Series Elastic Actuators (2015, methodology): “Many control approaches [7], [13], [16]–[18], [23]–[27] have been proposed for SEAs.”