Related papers: Spine-Inspired Continuum Soft Exoskeleton for Stoo…
This paper proposes a novel control framework for agile and robust bipedal locomotion, addressing model discrepancies between full-body and reduced-order models. Specifically, assumptions such as constant centroidal inertia have introduced…
Exoskeletons modulate human movement across diverse applications, from performance augmentation to daily-life assistance. These systems often enforce specific kinematic patterns to mitigate injury risks and motivate users to keep moving…
The use of exoskeleton robots is increasing due to the rising number of musculoskeletal injuries. However, their effectiveness depends heavily on the design of control systems. Designing robust controllers is challenging because of…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
The biological spine of quadrupeds enables sagittal flexion/extension, lateral bending, and axial rotation, playing a crucial role in highly agile and dexterous locomotion. While numerous studies have integrated active spinal joints into…
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…
Fecal incontinence, arising from a myriad of pathogenic mechanisms, has attracted considerable global attention. Despite its significance, the replication of the defecatory system for studying fecal incontinence mechanisms remains limited…
In this paper, we present a novel control framework to achieve robust push recovery on bipedal robots while locomoting. The key contribution is the unification of hybrid system models of locomotion with a reduced-order model predictive…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
A hybrid continuum robot design is introduced that combines a proximal tendon-actuated section with a distal telescoping section comprised of permanent-magnet spheres actuated using an external magnet. While, individually, each section can…
Sit-to-Stand (StS) is a fundamental daily activity that can be challenging for stroke survivors due to strength, motor control, and proprioception deficits in their lower limbs. Existing therapies involve repetitive StS exercises, but these…
Purpose of Review: This review provides an overview of the state of the art in bioinspired soft robotics with by examining advancements in actuation, functionality, modeling, and control. Recent Findings: Recent research into actuation…
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…
Reduced shoulder mobility limits upper-limb function and the performance of activities of daily living across a wide range of conditions. Wearable exosuits have shown promise in assisting arm elevation, reducing muscle effort, and…
Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and variables, from mechanical hardware and geometry choices to…
Stroke-induced motor impairment often results in substantial loss of upper-limb function, creating a strong demand for rehabilitation robots that enable safe and transparent physical human-robot interaction (pHRI). Variable stiffness…
Spring Loaded Inverted Pendulum (SLIP) model has a long history in describing running behavior in animals and humans as well as has been used as a design basis for robots capable of dynamic locomotion. Anchoring the SLIP for lossy physical…
Numerous wearable robots have been developed to meet the demands of physical assistance and entertainment. These wearable robots range from body-enhancing types that assist human arms and legs to body-extending types that have extra arms.…
An exoskeleton is a wearable electromechanical structure that is intended to resemble and allow movements in a manner similar to the human skeletal system. They can be used by both disabled and able people alike to increase physical…
Several upper-limb exoskeleton robots have been developed for stroke rehabilitation, but their rather low level of individualized assistance typically limits their effectiveness and practicability. Individualized assistance involves an…