Related papers: Preference-Based Learning for Exoskeleton Gait Opt…
Robotic exoskeletons are exciting technologies for augmenting human mobility. However, designing such a device for seamless integration with the human user and to assist human movement still is a major challenge. This paper aims at…
Many kinds of lower-limb exoskeletons were developed for walking assistance. However, when controlling these exoskeletons, time-delay due to the computation time and the communication delays is still a general problem. In this research, we…
Gait adaptation is an important part of gait analysis and its neuronal origin and dynamics has been studied extensively. In neurorehabilitation, it is important as it perturbs neuronal dynamics and allows patients to restore some of their…
A mesoscopic approach to modeling pedestrian simulation with multiple exits is proposed in this paper. A floor field based on Qlearning Algorithm is used. Attractiveness of exits to pedestrian typically is based on shortest path. However,…
Autonomous robots require online trajectory planning capability to operate in the real world. Efficient offline trajectory planning methods already exist, but are computationally demanding, preventing their use online. In this paper, we…
This work presents a description of the EXOSMOOTH project, oriented to the benchmarking of lower limb exoskeletons performance. In the field of assisted walking by powered lower limb exoskeletons, the EXOSMOOTH project proposes an…
Using lower-limbs exoskeletons provides potential advantages in terms of productivity and safety associated with reduced stress. However, complex issues in human-robot interaction are still open, such as the physiological effects of…
The age and stroke-associated decline in musculoskeletal strength degrades the ability to perform daily human tasks using the upper extremities. Although there are a few examples of exoskeletons, they need manual operations due to the…
This paper makes two scientific contributions to the field of exoskeleton-based action and movement recognition. First, it presents a novel machine learning and pattern recognition-based framework that can detect a wide range of actions and…
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.…
The prevalence of mobility impairments due to conditions such as spinal cord injuries, strokes, and degenerative diseases is on the rise globally. Lower-limb exoskeletons have been increasingly recognized as a viable solution for enhancing…
We study active preference learning as a framework for intuitively specifying the behaviour of autonomous robots. In active preference learning, a user chooses the preferred behaviour from a set of alternatives, from which the robot learns…
Walking controllers often require parametrization which must be tuned according to some cost function. To estimate these parameters, simulations can be performed which are cheap but do not fully represent reality. Real-robot experiments, on…
Developing exoskeletons that can reduce the metabolic cost of assisted subjects is challenging since a systematic design approach is required to capture the effects of device dynamics and the assistance torques on human performance. Design…
Effective exoskeleton assistance requires co-adaptation: as the device alters joint dynamics, the user reorganizes neuromuscular coordination, creating a non-stationary learning problem. Most learning-based approaches do not explicitly…
Experimental demonstration of complex robotic behaviors relies heavily on finding the correct controller gains. This painstaking process is often completed by a domain expert, requiring deep knowledge of the relationship between parameter…
Wearable robots offer a promising solution for quantitatively monitoring gait and providing systematic, adaptive assistance to promote patient independence and improve gait. However, due to significant interpersonal and intrapersonal…
Wearable exoskeletons can augment human strength and reduce muscle fatigue during specific tasks. However, developing personalized and task-generalizable assistance algorithms remains a critical challenge. To address this, a meta-imitation…
The most concentrated application of lower-limb rehabilitation exoskeleton (LLE) robot is that it can help paraplegics "re-walk". However, "walking" in daily life is more than just walking on flat ground with fixed gait. This paper focuses…
Robots that interact with humans must adapt to individual users' preferences to operate effectively in human-centered environments. An intuitive and effective technique to learn non-expert users' preferences is through rankings of robot…