Related papers: Towards Variable Assistance for Lower Body Exoskel…
Human motor control remains agile and robust despite limited sensory information for feedback, a property attributed to the body's ability to perform morphological computation through muscle coordination with variable impedance. However, it…
Exoskeletons and orthoses are wearable mobile systems providing mechanical benefits to the users. Despite significant improvements in the last decades, the technology is not fully mature to be adopted for strenuous and non-programmed tasks.…
Loss of mobility or balance resulting from neural trauma is a critical consideration in public health. Robotic exoskeletons hold great potential for rehabilitation and assisted movement, yet optimal assist-as-needed (AAN) control remains…
Physical interaction between individuals plays an important role in human motor learning and performance during shared tasks. Using robotic devices, researchers have studied the effects of dyadic haptic interaction mostly focusing on the…
Humans rely on ankle torque to maintain standing balance, particularly in the presence of small to moderate perturbations. Reductions in maximum torque (MT) production and maximum rate of torque development (MRTD) occur at the ankle with…
Designing an exoskeleton to reduce the risk of low-back injury during lifting is challenging. Computational models of the human-robot system coupled with predictive movement simulations can help to simplify this design process. Here, we…
Although there has been recent progress in control of multi-joint prosthetic legs for rhythmic tasks such as walking, control of these systems for non-rhythmic motions and general real-world maneuvers is still an open problem. In this…
Low back pain is one of the most common musculoskeletal disorder. To reduce its incidences, some back exoskeletons have been designed and already commercialized. However, there is a gap between the phases of device and testing on subjects.…
Personalised rehabilitation can be key to promoting gait independence and quality of life. Robots can enhance therapy by systematically delivering support in gait training, but often use one-size-fits-all control methods, which can be…
Robotic systems can enhance the amount and repeatability of physically guided motor training. Yet their real-world adoption is limited, partly due to non-intuitive trainer/therapist-trainee/patient interactions. To address this gap, we…
This paper presents advancements in the functionalities of the Recupera-Reha lower extremity exoskeleton robot. The exoskeleton features a series-parallel hybrid design characterized by multiple kinematic loops resulting in 148 degrees of…
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…
Learning to operate a vehicle is generally accomplished by forming a new cognitive map between the body motions and extrapersonal space. Here, we consider the challenge of remapping movement-to-space representations in survivors of spinal…
Falls during daily ambulation activities are a leading cause of injury in older adults due to delayed physiological responses to disturbances of balance. Lower-limb exoskeletons have the potential to mitigate fall incidents by detecting and…
In this work, we introduce the principle, design and mechatronics of Exo-Muscle, a novel assistive device for the knee joint. Different from the existing systems based on rigid exoskeleton structures or soft-tendon driven approaches, the…
Shared control in assistive robotics blends human autonomy with computer assistance, thus simplifying complex tasks for individuals with physical impairments. This study assesses an adaptive Degrees of Freedom control method specifically…
Common disabilities like stroke and spinal cord injuries may cause loss of motor function in hands. They can be treated with robot assisted rehabilitation techniques, like continuously opening and closing the hand with help of a robot, in a…
Exoskeleton locomotion must be robust while being adaptive to different users with and without payloads. To address these challenges, this work introduces a data-driven predictive control (DDPC) framework to synthesize walking gaits for…
This paper presents design principles for comfort-centered wearable robots and their application in a lightweight and backdrivable knee exoskeleton. The mitigation of discomfort is treated as mechanical design and control issues and three…
Mobility disabilities are prominent in society with wide-ranging detriments to affected individuals. Addressing the specific deficits of individuals within this heterogeneous population requires modular, partial-assist, lower-limb…