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Dropped Head Syndrome (DHS) causes a passively correctable neck deformation. Currently, there is no wearable orthopedic neck brace to fulfill the needs of persons suffering from DHS. Related works have made progress in this area by creating…
Mobility disabilities are prominent in society with wide-ranging detriments to affected individuals. Addressing the specific deficits of individuals within this heterogeneous population requires modular, partial-assist, lower-limb…
Exoskeletons play a crucial role in assisting patients with varying mobility levels during rehabilitation. However, existing control strategies face challenges such as imprecise trajectory tracking, interaction torque oscillations, and…
Robot-led physical therapy (PT) offers a promising avenue to enhance the care provided by clinical exercise specialists (ES) and physical and occupational therapists to improve patients' adherence to prescribed exercises outside of a…
Lower limb exoskeleton robots hold great potential for rehabilitation, movement assistance, and strength augmentation. Design control to guarantee optimal needed assistance is still a challenge considering the pathological variances between…
We examine the transport of useful energy, i.e. extractable work as quantified by the ergotropy, along a spin chain with tuneable exchange couplings between the sites. We focus on, and interpolate between, the two physically relevant limits…
The age and stroke-associated decline in musculoskeletal strength degrades the ability to perform daily human tasks using the upper extremities. Although there are a few examples of exoskeletons, they need manual operations due to the…
Maintaining an active lifestyle is vital for quality of life, yet challenging for wheelchair users. For instance, powered wheelchairs face increasing risks of obesity and deconditioning due to inactivity. Conversely, manual wheelchair…
Developing exoskeleton controllers that generalize across diverse locomotor conditions typically requires extensive motion-capture data and biomechanical labeling, limiting scalability beyond instrumented laboratory settings. Here, we…
Several upper-limb exoskeleton robots have been developed for stroke rehabilitation, but their rather low level of individualized assistance typically limits their effectiveness and practicability. Individualized assistance involves an…
Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…
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…
A new approach to the human-robot shared control of the Extra Robotic Legs (XRL) wearable augmentation system is presented. The XRL system consists of two extra legs that bear the entirety of its backpack payload, as well as some of the…
Robotic systems can enhance the amount and repeatability of physically guided motor training. Yet their real-world adoption is limited, partly due to non-intuitive trainer/therapist-trainee/patient interactions. To address this gap, we…
In this study, seated walk, a movement of walking while sitting on a chair with casters, is realized on a musculoskeletal humanoid from human teaching. The body is balanced by using buttock-contact sensors implemented on the planar…
We present the design of a new robotic human augmentation system that will assist the operator in carrying a heavy payload, reaching and maintaining difficult postures, and ultimately better performing their job. The Extra Robotic Legs…
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…
Work related musculoskeletal disorders (WMSDs) are often caused by repetitive lifting, making them a significant concern in occupational health. Although wearable assist devices have become the norm for mitigating the risk of back pain,…
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…
Cable-driven exosuits have the potential to support individuals with motor disabilities across the continuum of care. When supporting a limb with a cable, force sensors are often used to measure tension. However, force sensors add cost,…