Prior, Stephen D., Warner, Peter R., White, Anthony S., Parsons, J.T. and Gill, Raj
Actuators for rehabilitation robots.
Mechatronics, 3, (3), . (doi:10.1016/0957-4158(93)90003-K).
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This paper describes the use of pneumatic muscle actuators in rehabilitation robotics. The history and application of this type of actuator is reviewed, and the design of an electric wheelchair mounted rehabilitation robot, utilizing a new form of pneumatic muscle actuator, the flexator, is discussed. The theory of controllable compliance is detailed and experimental results based on the flexator actuator are given to support this theory
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