Gravity and Impedance Compensation of Body Weight Support System Driven by Two Series Elastic Actuators

Robotic devices that can support human’s motions, such as exoskeletons, have recently drawn attention. Body weight support (BWS) systems are potential robotic devices that support and assist trunk motions with elaborate force control for rehabilitation and training exercises. This article presents a BWS system with 2-D motion assistance controlled by two series elastic actuators, which can perform...