Related papers: Optimal Energy Shaping Control for a Backdrivable …
Balance loss is a significant challenge in lower-limb exoskeleton applications, as it can lead to potential falls, thereby impacting user safety and confidence. We introduce a control framework for omnidirectional recovery step planning by…
This paper entails application of the energy shaping methodology to control a flexible, elastic Cosserat rod model. Recent interest in such continuum models stems from applications in soft robotics, and from the growing recognition of the…
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…
In rehabilitation, powered, and teleoperation exoskeletons, connecting the human body to the exoskeleton through binding attachments is a common configuration. However, the uncertainty of the tightness and the donning deviation of the…
Assistive exoskeletons have shown great potential in enhancing mobility for individuals with motor impairments, yet their effectiveness relies on precise parameter tuning for personalized assistance. In this study, we investigate the…
We develop a physics-informed learning framework for energy-shaping control of port-Hamiltonian (pH) systems from trajectory data. The proposed approach co-learns a pH system model and an optimal energy-balancing passivity-based controller…
Effective rehabilitation methods are essential for the recovery of lower limb dysfunction caused by stroke. Nowadays, robotic exoskeletons have shown great potentials in rehabilitation. Nevertheless, traditional rigid exoskeletons are…
This paper proposes a hierarchical Lyapunov-based adaptive cascade control scheme for a lower-limb exoskeleton with control saturation. The proposed approach is composed by two control levels with cascade structure. At the higher layer of…
Continuum manipulators offer intrinsic dexterity and safe geometric compliance for navigation within confined and obstacle-rich environments. However, their infinite-dimensional backbone deformation, unmodeled internal friction, and…
Wearable exoskeletons can augment human strength and reduce muscle fatigue during specific tasks. However, developing personalized and task-generalizable assistance algorithms remains a critical challenge. To address this, a meta-imitation…
I present the design, implementation and control of a novel, linkage-based, underactuated hand exoskeleton aimed to assist patients with hand disabilities during grasping tasks for robot assisted physical rehabilitation or robot assisted…
Gait asymmetry is a significant clinical characteristic of hemiplegic gait that most stroke survivors suffer, leading to limited mobility and long-term negative impacts on their quality of life. Although a variety of exoskeleton controls…
Data-driven joint-moment predictors offer a scalable alternative to laboratory-based inverse-dynamics pipelines for biomechanics estimation and exoskeleton control. Meanwhile, physics-based reinforcement learning (RL) enables…
Wearable devices like exoskeletons are designed to reduce excessive loads on specific joints of the body. Specifically, single- or two-degrees-of-freedom (DOF) upper-body industrial exoskeletons typically focus on compensating for the…
Design of active orthosis is a challenging problem from both the dynamic simulation and control points of view. The redundancy problem of the simultaneous human-orthosis actuation is an interesting exercise to solve concerning the…
This paper presents advancements in the functionalities of the Recupera-Reha lower extremity exoskeleton robot. The exoskeleton features a series-parallel hybrid design characterized by multiple kinematic loops resulting in 148 degrees of…
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…
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…
Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee requires an active prosthesis, but has the potential to enable…
This paper proposes a family of finite-time controllers for the bilateral teleoperation of fully actuated nonlinear Euler-Lagrange systems. Based on the energy-shaping framework and under the standard assumption of passive interactions with…