Related papers: Fuzzy Controller Design for Assisted Omni-Directio…
Major Depressive Disorder (MDD) is one of the most common causes of disability worldwide. Unfortunately, about one-third of patients do not benefit sufficiently from available treatments and not many new drugs have been developed in this…
Older adults and people suffering from neurodegenerative disease often experience difficulty controlling gait during locomotion, ultimately increasing their risk of falling. To combat these effects, researchers and clinicians have used…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
The well-being of older adults relies significantly on maintaining balance and mobility. As physical ability declines, older adults often accept the need for assistive devices. However, existing walkers frequently fail to consider user…
This paper presents the development of a new passive assistive handwriting device, which aims to stabilize the motion of people living with movement disorders. Many people living with conditions such as cerebral palsy, stroke, muscular…
Back-support exoskeletons have been proposed to mitigate spinal loading in industrial handling, yet their effectiveness critically depends on timely and context-aware assistance. Most existing approaches rely either on load-estimation…
Foot drop is commonly managed using Functional Electrical Stimulation (FES), typically delivered via open-loop controllers with fixed stimulation intensities. While users may manually adjust the intensity through external controls, this…
Gait asymmetry is a significant clinical characteristic of hemiplegic gait that most stroke survivors suffer, leading to limited mobility and long-term negative impacts on their quality of life. Although a variety of exoskeleton controls…
This paper extends the forced-oscillation-based reduced-order model of walking to a model with ankles and feet. A human-inspired paradigm was designed for the ankle dynamics, which results in improved gait characteristics compared to the…
We present a nonlinear stochastic model of the human gait control system in a variety of gait regimes. The stride interval time series in normal human gait is characterized by slightly multifractal fluctuations. The fractal nature of the…
Step adjustment can improve the gait robustness of biped robots, however the adaptation of step timing is often neglected as it gives rise to non-convex problems when optimized over several footsteps. In this paper, we argue that it is not…
A sensor-fused wearable assistance prototype for upper-limb function (triceps brachii and extensor pollicis brevis) is presented. The device integrates surface electromyography (sEMG), an inertial measurement unit (IMU), and flex/force…
In this study, we present a hierarchical fuzzy system by evaluating the risk state for a Driver Assistance System in order to contribute in reducing the road accident's number. A key component of this system is its ability to continually…
This paper focusses on the application of fuzzy control techniques (fuzzy type-1 and type-2) and their hybrid forms (Hybrid adaptive fuzzy controller and fuzzy-PID controller) in the area of stabilized platforms. It represents an attempt to…
In recent years, many countries, including Japan, have rapidly aging populations, making the preservation of seniors' quality of life a significant concern. For elderly people with impaired physical abilities, support for toileting is one…
Kinematic structure of an exoskeleton is the most fundamental block of its design and is determinant of many functional capabilities of it. Although numerous upper limb rehabilitation devices have been designed in the recent years, there is…
A control-theoretic framework for autonomous avatar-guided rehabilitation in virtual reality, based on interpretable, adaptive motor guidance through optimal control, is presented. The framework faces critical challenges in motor…
Human walkers traverse diverse environments and demonstrate different gait locomotion and energy cost on granular terrains compared to solid ground. We present a stiffness-based model predictive control approach of knee exoskeleton…
Maintaining an active lifestyle is vital for quality of life, yet challenging for wheelchair users. For instance, powered wheelchairs face increasing risks of obesity and deconditioning due to inactivity. Conversely, manual wheelchair…
Medical errors, defined as unintended acts either of omission or commission that cause the failure of medical actions, are the third leading cause of death in the United States. The application of autonomy and robotics can alleviate some…