Related papers: Control of Walking Assist Exoskeleton with Time-de…
Controlling the interaction forces between a human and an exoskeleton is crucial for providing transparency or adjusting assistance or resistance levels. However, it is an open problem to control the interaction forces of lower-limb…
This paper presents a personalized gait optimization framework for lower-body exoskeletons. Rather than optimizing numerical objectives such as the mechanical cost of transport, our approach directly learns from user preferences, e.g., for…
Task-dependent controllers widely used in exoskeletons track predefined trajectories, which overly constrain the volitional motion of individuals with remnant voluntary mobility. Energy shaping, on the other hand, provides task-invariant…
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…
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…
This paper presents a neural network (NN) based adaptive feedback regulator to ensure the lateral and longitudinal stability and regulate the desired walking velocity of a lower-limb exoskeleton under model uncertainty. The traditional…
We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions…
This paper presents the design and implementation of an AI vision-controlled orthotic hand exoskeleton to enhance rehabilitation and assistive functionality for individuals with hand mobility impairments. The system leverages a Google Coral…
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…
Everyday locomotion is a complex sensorimotor process that can unfold over multiple timescales, from long-term path planning to rapid, reactive adjustments. However, we lack an understanding of how factors such as environmental demands, or…
Quantitative estimation of human joint motion in daily living spaces is essential for early detection and rehabilitation tracking of neuromusculoskeletal disorders (e.g., Parkinson's) and mitigating trip and fall risks for older adults.…
This paper proposes a data-driven method for powered prosthesis control that achieves stable walking without the need for additional sensors on the human. The key idea is to extract the nominal gait and the human interaction information…
In this research article, we have reported periodic cellular automata rules for different gait state prediction and classification of the gait data using extreme machine Leaning (ELM). This research is the first attempt to use cellular…
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 presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots. Our approach modulates the change of angular momentum about the foot-ground contact…
This paper presents an insole FSR (Force Sensing Resistor) to dynamically detect weight variations in an exoskeleton system. The proposed methodology is intended for tasks of lifting and lowering heavy weights with an industrial exoskeleton…
Hybrid systems, such as bipedal walkers, are challenging to control because of discontinuities in their nonlinear dynamics. Little can be predicted about the systems' evolution without modeling the guard conditions that govern transitions…
The upper limb robotic exoskeleton is an electromechanical device which use to recover a patients motor dysfunction in the rehabilitation field. It can provide repetitive, comprehensive, focused, positive, and precise training to regain the…
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…