Related papers: Design, Implementation and Control of an Underactu…
Prosthetic hands can be used to support upper-body amputees. Myoelectric prosthesis, one of the externally-powered active prosthesis categories, requires proper processing units in addition to recording electrodes and instrumentation…
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…
This paper compares three controllers for quasi-passive exoskeletons. The Utility Maximizing Controller (UMC) uses intent estimation to recognize user motions and decision theory to activate the support mechanism. The intent estimation…
We present a personal mobility device for lower-body impaired users through a light-weighted exoskeleton on wheels. On its core, a novel passive exoskeleton provides postural transition leveraging natural body postures with support to the…
Spasticity is a common movement disorder symptom in individuals with cerebral palsy, hereditary spastic paraplegia, spinal cord injury and stroke, being one of the most disabling features in the progression of these diseases. Despite the…
Lower Limb Exoskeletons (LLEs) are wearable robots that provide mechanical power to the user. Human-exoskeleton (HE) connections must preserve the user's natural behavior during the interaction, avoiding undesired forces. Therefore,…
Reinforcement learning (RL) and sim-to-real transfer have advanced rigid-object manipulation. However, policies remain brittle for articulated mechanisms due to contact-rich dynamics that require both stable grasping and simultaneous free…
Myoelectric prosthetic hands are intended to replace the function of the amputee's lost arm. Therefore, developing robotic prosthetics that can mimic not only the appearance and functionality of humans but also characteristics unique to…
Grasping is a fundamental skill for interacting with the environment. However, this ability can be difficult for some (e.g. due to disability). Wearable robotic solutions can enhance or restore hand function, and recent advances have…
This article explores assistive devices for upper limb movement in people with disabilities through a systematic review based on the PRISMA methodology. The studied devices encompass technologies ranging from orthoses to advanced robotics,…
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…
Effective rehabilitation methods are essential for the recovery of lower limb dysfunction caused by stroke. Nowadays, robotic exoskeletons have shown great potentials in rehabilitation. Nevertheless, traditional rigid exoskeletons are…
The share of construction trade jobs held by women and people with disabilities has remained stubbornly low in the face of chronic shortages of skilled labor. This study explores the potential of wearable assistive technologies to reduce…
Robotic sensorimotor extensions (supernumerary limbs, prosthesis, handheld tools) are worn devices used to interact with the nearby environment, whether to assist the capabilities of impaired users or to enhance the dexterity of industrial…
Rehabilitation therapies are widely employed to assist people with motor impairments in regaining control over their affected body parts. Nevertheless, factors such as fatigue and low self-efficacy can hinder patient compliance during…
Human intention detection with hand motion prediction is critical to drive the upper-extremity assistive robots in neurorehabilitation applications. However, the traditional methods relying on physiological signal measurement are…
Dropped head syndrome, caused by neck muscle weakness from neurological diseases, severely impairs an individual's ability to support and move their head, causing pain and making everyday tasks challenging. Our long-term goal is to develop…
In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…
Most control techniques for prosthetic grasping focus on dexterous fingers control, but overlook the wrist motion. This forces the user to perform compensatory movements with the elbow, shoulder and hip to adapt the wrist for grasping. We…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…