Related papers: Virtual Physical Coupling of Two Lower-Limb Exoske…

One of the typical purposes of using lower-limb exoskeleton robots is to provide assistance to the wearer by supporting their weight and augmenting their physical capabilities according to a given task and human motion intentions. The…

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…

In the control of lower-limb exoskeletons with feet, the phase in the gait cycle can be identified by monitoring the weight distribution at the feet. This phase information can be used in the exoskeleton's controller to compensate the…

Age-related mobility decline is frequently accompanied by a redistribution of joint kinetics, where older adults compensate for reduced ankle function by increasing demand on the hip. Paradoxically, this compensatory shift typically…

Close and continuous interaction with rich contacts is a crucial aspect of human activities (e.g. hugging, dancing) and of interest in many domains like activity recognition, motion prediction, character animation, etc. However, acquiring…

By the recent spread of machine learning in the robotics field, a humanoid that can act, perceive, and learn in the real world through contact with the environment needs to be developed. In this study, as one of the choices, we propose a…

Background: Lower limb exoskeletons can enhance quality of life, but widespread adoption is limited by the lack of frameworks to assess their biomechanical and human-robot interaction effects, which are essential for developing adaptive and…

Haptic interaction between two humans, for example, a physiotherapist assisting a patient regaining the ability to grasp a cup, likely facilitates motor skill acquisition. Haptic human-human interaction has been shown to enhance individual…

The human foot serves as the critical interface between the body and environment during locomotion. Existing musculoskeletal models typically oversimplify foot-ground contact mechanics, limiting their ability to accurately simulate human…

Exoskeletons show great promise for enhancing mobility, but providing appropriate assistance remains challenging due to the complexity of human adaptation to external forces. Current state-of-the-art approaches for optimizing exoskeleton…

Quantitative estimation of human joint motion in daily living spaces is essential for early detection and rehabilitation tracking of neuromusculoskeletal disorders (e.g., Parkinson's) and mitigating trip and fall risks for older adults.…

Powered lower-limb exoskeletons provide assistive torques to coordinate limb motion during walking in individuals with movement disorders. Advances in sensing and actuation have improved the wearability and portability of state-of-the-art…

Human teams are able to easily perform collaborative manipulation tasks. However, for a robot and human to simultaneously manipulate an extended object is a difficult task using existing methods from the literature. Our approach in this…

Individuals who use myoelectric upper-limb prostheses often rely heavily on vision to complete their daily activities. They thus struggle in situations where vision is overloaded, such as multitasking, or unavailable, such as poor lighting…

This study is the first to explore the interplay between haptic interaction and avatar representation in Shared Virtual Environments (SVEs). Specifically, how these factors shape users' sense of social presence during dyadic collaborations,…

A significant challenge for the control of a robotic lower extremity rehabilitation exoskeleton is to ensure stability and robustness during programmed tasks or motions, which is crucial for the safety of the mobility-impaired user. Due to…

The upper limb robotic exoskeleton is an electromechanical device which use to recover a patients motor dysfunction in the rehabilitation field. It can provide repetitive, comprehensive, focused, positive, and precise training to regain the…

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…

This paper presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work has shown that providing some freedom of movement around a…

We propose a novel approach to investigate the brain mechanisms that support coordination of behavior between individuals. Brain states in single individuals defined by the patterns of functional connectivity between brain regions are used…