Related papers: Sensor-less Angle and Stiffness Control of Antagon…
Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics 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…
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…
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 study introduces an innovative design for a Variable Stiffness 3 Degrees of Freedom actuated wrist capable of actively and continuously adjusting its overall stiffness by modulating the active length of non-linear elastic elements.…
Estimating the impact intensity is one of the significant tasks of the legged robot. Accurate feedback of the impact may support the robot to plan a suitable and efficient trajectory to adapt to unknown complex terrains. Ordinarily, this…
Compliant mechanisms are alternatives to conventional mechanisms which exploit elastic strain to produce desired deformations instead of using moveable parts. They are designed for a kinematic task (providing desired deformations) but do…
This paper proposes a novel method to diagnose sensory ataxia via an automated Romberg Test - the current de facto medical procedure used to diagnose this condition. It utilizes a convolutional neural network to predict joint locations,…
Bilateral control, a remote-control technique, is used to work at a distance. However, many existing bilateral control systems have two common problems: 1) it is difficult to create a system like a human hand, that has multiple degrees of…
Deep learning models have become a powerful tool in knee angle estimation for lower limb prostheses, owing to their adaptability across various gait phases and locomotion modes. Current methods utilize Multi-Layer Perceptrons (MLP),…
Soft robot arms have made significant progress towards completing human-scale tasks, but designing arms for tasks with specific load and workspace requirements remains difficult. A key challenge is the lack of model-based design tools,…
Haptic interfaces that can simultaneously modulate multiple physical properties remain a fundamental challenge in human-robot interaction. Existing systems typically allow the rendering of either geometric features or mechanical properties,…
Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model-based whole-body kinematics estimation algorithm using…
The close relationship between the feedforward ANC system and the stereo acoustic echo cancellation system is revealed in this paper. Accordingly, the convergence behavior of the ANC system can be analyzed by investigating the joint…
This article proposes a mechanical sensorless control strategy for the synchronous rectification of small wind turbines equipped with a surface-mounted Permanent Magnet Synchronous Generator (PMSG). By means of Lyapunov theory, the Global…
Multi-arm multi-stage (MAMS) trials have gained popularity to enhance the efficiency of clinical trials, potentially reducing both duration and costs. This paper focuses on designing MAMS trials where no control treatment exists. This can…
Walking on compliant terrain presents a substantial challenge for individuals with lower-limb amputation, further elevating their already high risk of falling. While powered ankle-foot prostheses have demonstrated adaptability across speeds…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…
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…
Upper-limb amputees face tremendous difficulty in operating dexterous powered prostheses. Previous work has shown that aspects of prosthetic hand, wrist, or elbow control can be improved through "intelligent" control, by combining…