Related papers: Closed-loop Control Design and Motor Allocation fo…
This paper focuses on the analysis of human gait cycle dynamics and presents a mathematical model to determine the torque exerted on the lower limb joints throughout the complete gait cycle, including its various phases. The study involved…
Exosuits have recently been developed as alternatives to rigid exoskeletons and are increasingly adopted for both upper and lower limb therapy and assistance in clinical and home environments. Many cable-driven exosuits have been developed…
In this paper, we improve upon a method for optimal control of quadrupedal robots which utilizes a full-order model of the system. The original method utilizes offline nonlinear optimal control to synthesize a control scheme which…
The design of a control architecture for providing the desired motion along with the realization of the joint limitation of a robotic system is still an open challenge in control and robotics. This paper presents a torque control…
This paper presents an admittance controller based on the passivity theory for a powered upper-limb exoskeleton robot which is governed by the nonlinear equation of motion. Passivity allows us to include a human operator and environmental…
Human locomotion involves continuously variable activities including walking, running, and stair climbing over a range of speeds and inclinations as well as sit-stand, walk-run, and walk-stairs transitions. Understanding the kinematics and…
Recent advances in upper limb prostheses have led to significant improvements in the number of movements provided by the robotic limb. However, the method for controlling multiple degrees of freedom via user-generated signals remains…
Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
Animals run robustly in diverse terrain. This locomotion robustness is puzzling because axon conduction velocity is limited to a few ten meters per second. If reflex loops deliver sensory information with significant delays, one would…
In this paper, the notion of contraction is used to solve the trajectory-tracking problem for a class of mechanical systems. Additionally, we propose a dynamic extension to remove velocity measurements from the controller while rejecting…
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,…
This letter presents a new intelligent control scheme for the accurate trajectory tracking of flexible link manipulators. The proposed approach is mainly based on a sliding mode controller for underactuated systems with an embedded…
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified test postures. It employs a low-cost measuring system…
This paper presents an analytical and experimental design and deployment control analysis of a hyperbolic paraboloid cable net based on clustering actuation strategies. First, the dynamics and statics for clustered tensegrity structures…
Animals achieve robust locomotion by offloading regulation from the brain to physical couplings within the body. In contrast, locomotion in artificial systems often depends on centralized processors. We introduce a rapid and autonomous…
Construction workers exert intense physical effort and experience serious safety and health risks in hazardous working environments. Quiet stance and kneeling are among the most common postures performed by construction workers during their…
Underactuated robots are characterized by a larger number of degrees of freedom than actuators and if they are designed with a specific mass distribution, they can be controlled by means of differential flatness theory. This structural…
Prosthesis users can regain partial limb functionality, however, full natural limb mobility is rarely restored, often resulting in compensatory movements that lead to discomfort, inefficiency, and long-term physical strain. To address this…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…