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Dexterous robotic manipulation in unstructured environments can aid in everyday tasks such as cleaning and caretaking. Anthropomorphic robotic hands are highly dexterous and theoretically well-suited for working in human domains, but their…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
The shoulder joint is one of the functionally and anatomically most sophisticated articular systems in the human body. Both complex movement patterns and the stabilization of the highly mobile joint rely on intricate three-dimensional…
Objective: Shoulder exoskeletons can effectively assist with overhead work. However, their impacts on muscle synergy remain unclear. The objective is to systematically investigate the effects of the shoulder exoskeleton on muscle synergies…
The ability to perform in-hand manipulation still remains an unsolved problem; having this capability would allow robots to perform sophisticated tasks requiring repositioning and reorienting of grasped objects. In this work, we present a…
Many people could benefit from exoskeleton assistance during gait, for either medical or nonmedical purposes. But exoskeletons bring added mass and structure, which in turn require compensating for. In this work, we present a lightweight,…
One of the many secrets to the success and prevalence of insects is their versatile, robust, and complex exoskeleton morphology. A fundamental challenge in insect-inspired robotics has been the fabrication of robotic exoskeletons that can…
Natural systems integrate the work of many sub-units (cells) toward a large-scale unified goal (morphological and behavioral), which can counteract the effects of unexpected experiences, damage, or simply changes in tasks demands. In this…
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…
Parallel manipulators, also called parallel kinematics machines (PKM), enable robotic solutions for highly dynamic handling and machining applications. The safe and accurate design and control necessitates high-fidelity dynamics models.…
Object manipulation is a fundamental challenge in robotics, where systems must balance trade-offs among manipulation capabilities, system complexity, and throughput. Distributed manipulator systems (DMS) use the coordinated motion of…
We present SMORS, the first Soft fully actuated MultirOtoR System for multimodal locomotion. Unlike conventional hexarotors, SMORS is equipped with three rigid and three continuously soft arms, with each arm hosting a propeller. We create a…
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…
The subject of this paper is the optimal design of a parallel mechanism intended for three-axis machining applications. Parallel mechanisms are interesting alternative designs in this context but most of them are designed for three- or…
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…
In this paper we consider a class of exoskeletons designed to amplify the strength of humans through feedback of sensed human-robot interactions and actuator forces. We define an amplification error signal based on a reference amplification…
Tendon-driven underactuated hands excel in adaptive grasping but often suffer from kinematic unpredictability and highly non-linear force transmission. This ambiguity limits their ability to perform precise free-motion shaping and deliver…
One of the typical purposes of using lower-limb exoskeleton robots is to provide assistance to the wearer by supporting their weight and augmenting their physical capabilities according to a given task and human motion intentions. The…
We propose a parallel massage robot with compliant joints based on the series elastic actuator (SEA), offering a unified force-position control approach. First, the kinematic and static force models are established for obtaining the…
Classical rigid-bodied robotic systems are presented with proven success in theoretical development and industrial applications, are recently challenged by the emergence of soft robotics due to a growing need in physical human-robot…