Related papers: A Test Bench For Evaluating Exoskeletons For Upper…
In order to make robots more useful in a variety of environments, they need to be highly portable so that they can be transported to wherever they are needed, and highly storable so that they can be stored when not in use. We propose…
Robot-assisted therapy can deliver high-dose, task-specific training after neurologic injury, but most systems act primarily at the limb level-engaging the impaired neural circuits only indirectly-which remains a key barrier to truly…
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…
The present study investigated the effect of a passive lower-limb exoskeleton on lumbar load and verified the effectiveness of biomechanical analysis for evaluating the physical burden while wearing the exoskeleton. Twelve healthy male…
This paper presents a novel approach to evaluating back support exoskeletons (BSEs) in workplace settings addressing the limitations of traditional methods like electromyography (EMG), which are impractical due to their sensitivity to…
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
This paper presents an algorithm that makes novel use of a Lie group representation of position and orientation alongside a constrained extended Kalman filter (CEKF) to accurately estimate pelvis, thigh, and shank kinematics during walking…
Exoskeletons and orthoses are wearable mobile systems providing mechanical benefits to the users. Despite significant improvements in the last decades, the technology is not fully mature to be adopted for strenuous and non-programmed tasks.…
Many recent human-robot collaboration strategies, such as Assist-As-Needed (AAN), are promoting humancentered robot control, where the robot continuously adapts its assistance level based on the real-time need of its human counterpart. One…
Momentum observer (MOB) can estimate external joint torque without requiring additional sensors, such as force/torque or joint torque sensors. However, the estimation performance of MOB deteriorates due to the model uncertainty which…
Powered lower limb exoskeletons are a viable solution for people with a spinal cord injury to regain mobility for their daily activities. However, the commonly employed rigid actuation and pre-programmed trajectories increase the risk of…
The use of exoskeleton robots is increasing due to the rising number of musculoskeletal injuries. However, their effectiveness depends heavily on the design of control systems. Designing robust controllers is challenging because of…
Marker-based Optical Motion Capture (OMC) paired with biomechanical modeling is currently considered the most precise and accurate method for measuring human movement kinematics. However, combining differentiable biomechanical modeling with…
Timely and adequate rehabilitation is critical in facilitating post-stroke recovery. However, the organization and delivery of rehabilitation are resource-demanding, and are only available to approximately 25% of stroke survivors in…
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,…
Rehabilitation training for patients with motor disabilities usually requires specialized devices in rehabilitation centers. Home-based multi-purpose training would significantly increase treatment accessibility and reduce medical costs.…
Upper extremity motor impairment affects about 80\% of persons after strokes. For stroke rehabilitation, upper limb kinematic assessments have increasingly been used as primary or secondary outcome measures. Studying the upper extremity…
Virtual Reality (VR) has been utilized for several applications and has shown great potential for rehabilitation, especially for home therapy. However, these systems solely rely on information from VR hand controllers, which do not fully…
Stroke patients with upper limb motor impairments are re-acclimated to their corresponding motor functionalities through therapeutic interventions. Physiotherapists typically assess these functionalities using various qualitative protocols.…
The complex ways in which humans utilize their bodies in sports and martial arts are remarkable, and human motion analysis is one of the most effective tools for robot body design and control. On the other hand, motion analysis is not easy,…