Related papers: Robust Control of the Sit-to-Stand Movement for a …
This study presents a technique to safely control the Sit-to-Stand movement of powered lower limb orthoses in the presence of parameter uncertainty. The weight matrices used to calculate the finite time horizon linear-quadratic regulator…
A sensitivity-based approach for computing over-approximations of reachable sets, in the presence of constant parameter uncertainties and a single initial state, is used to analyze a three-link planar robot modeling a Powered Lower Limb…
Precise control of lower limb exoskeletons during sit-to-stand (STS) transitions remains a central challenge in rehabilitation robotics owing to the highly nonlinear, time-varying dynamics of the human-exoskeleton system and the stringent…
A significant challenge for the control of a robotic lower extremity rehabilitation exoskeleton is to ensure stability and robustness during programmed tasks or motions, which is crucial for the safety of the mobility-impaired user. Due to…
This manuscript presents control of a high-DOF fully actuated lower-limb exoskeleton for paraplegic individuals. The key novelty is the ability for the user to walk without the use of crutches or other external means of stabilization. We…
Design of active orthosis is a challenging problem from both the dynamic simulation and control points of view. The redundancy problem of the simultaneous human-orthosis actuation is an interesting exercise to solve concerning the…
Partial-assistance exoskeletons hold significant potential for gait rehabilitation by promoting active participation during (re)learning of normative walking patterns. Typically, the control of interaction torques in partial-assistance…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
Humanoid robots have the potential capability to perform a diverse range of manipulation tasks, but this is based on a robust and precise standing controller. Existing methods are either ill-suited to precisely control high-dimensional…
Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…
Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control…
This paper introduces an upper limb postural optimization method for enhancing physical ergonomics and force manipulability during bimanual human-robot co-carrying tasks. Existing research typically emphasizes human safety or manipulative…
Hip exoskeletons are known for their versatility in assisting users across varied scenarios. However, current assistive strategies often lack the flexibility to accommodate for individual walking patterns and adapt to diverse locomotion…
Lower-limb prosthesis wearers are more prone to falling than non-amputees. Powered prostheses can reduce this instability of passive prostheses. While shown to be more stable in practice, powered prostheses generally use model-independent…
Impedance-based control represents a prevalent strategy in the powered trans femoral prostheses because of its ability to reproduce natural walking. However, most existing studies have developed impedance-based prosthesis controllers for…
Sit-to-stand transitions are an important part of activities of daily living and play a key role in functional mobility in humans. The sit-to-stand movement is often affected in older adults due to frailty and in patients with motor…
Standing-up control is crucial for humanoid robots, with the potential for integration into current locomotion and loco-manipulation systems, such as fall recovery. Existing approaches are either limited to simulations that overlook…
In this paper, we present an integrated human-in-the-loop simulation paradigm for the design and evaluation of a lower extremity exoskeleton that is elastically strapped onto human lower limbs. The exoskeleton has 3 rotational DOFs on each…
In order to provide therapy in a functional context, controls for wearable robotic orthoses need to be robust and intuitive. We have previously introduced an intuitive, user-driven, EMG-based method to operate a robotic hand orthosis, but…
Human and humanoid posture control models usually rely on single or multiple degrees of freedom inverted pendulum representation of upright stance associated with a feedback controller. In models typically focused on the action between…