Related papers: Intelligent upper-limb exoskeleton integrated with…
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…
Wearable exoskeletons hold transformative promise for restoring mobility across diverse users with muscular weakness or other impairments. However, their translation beyond laboratory environments remains limited by sensing systems that…
Upper-limb exoskeletons are primarily designed to provide assistive support by accurately interpreting and responding to human intentions. In home-care scenarios, exoskeletons are expected to adapt their assistive configurations based on…
This paper compares three controllers for quasi-passive exoskeletons. The Utility Maximizing Controller (UMC) uses intent estimation to recognize user motions and decision theory to activate the support mechanism. The intent estimation…
Back injuries are the most prevalent work-related musculoskeletal disorders and represent a major cause of disability. Although innovations in wearable robots aim to alleviate this hazard, the majority of existing exoskeletons are obtrusive…
A typical application of upper-limb exoskeleton robots is deployment in rehabilitation training, helping patients to regain manipulative abilities. However, as the patient is not always capable of following the robot, safety issues may…
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…
Designing generalizable control policies for lower-limb exoskeletons remains fundamentally constrained by exhaustive data collection or iterative optimization procedures, which limit accessibility to clinical populations. To address this…
Partial-assistance exoskeletons hold significant potential for gait rehabilitation by promoting active participation during (re)learning of normative walking patterns. Typically, the control of interaction torques in partial-assistance…
Many kinds of lower-limb exoskeletons were developed for walking assistance. However, when controlling these exoskeletons, time-delay due to the computation time and the communication delays is still a general problem. In this research, we…
With rapid advancements in exoskeleton hardware technologies, successful assessment and accurate control remain challenging. This study introduces a modular sensor-based system to enhance biomechanical evaluation and control in lower-limb…
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…
Intent inferral, the process by which a robotic device predicts a user's intent from biosignals, offers an effective and intuitive way to control wearable robots. Classical intent inferral methods treat biosignal inputs as unidirectional…
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…
Assistive robotic devices, like soft lower-limb exoskeletons or exosuits, are widely spreading with the promise of helping people in everyday life. To make such systems adaptive to the variety of users wearing them, it is desirable to endow…
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…
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…
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…
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…
Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…