Related papers: Intelligent upper-limb exoskeleton integrated with…

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…

Metabolic energy consumption of a powered lower-limb exoskeleton user mainly comes from the upper body effort since the lower body is considered to be passive. However, the upper body effort of the users is largely ignored in the literature…

Exoskeletons are a promising technology that enables individuals with mobility limitations to walk again. As the 2016 Cybathlon illustrated, however, the community has a considerable way to go before exoskeletons have the necessary…

Lower limbs exoskeletons provide assistance during standing, squatting, and walking. Gait dynamics, in particular, implies a change in the configuration of the device in terms of contact points, actuation, and system dynamics in general. In…

The kinematics of human movements and locomotion are closely linked to the activation and contractions of muscles. To investigate this, we present a multimodal dataset with benchmarks collected using a novel pair of Intelligent Knee Sleeves…

Accurate estimation of a user's biological joint moment from wearable sensor data is vital for improving exoskeleton control during real-world locomotor tasks. However, most state-of-the-art methods rely on deep learning techniques that…

Hip exoskeletons are known for their versatility in assisting users across varied scenarios. However, current assistive strategies often lack the flexibility to accommodate for individual walking patterns and adapt to diverse locomotion…

We introduce Fiducial Exoskeletons, an image-based reformulation of 3D robot state estimation that replaces cumbersome procedures and motor-centric pipelines with single-image inference. Traditional approaches - especially robot-camera…

Musculoskeletal modeling and simulations enable the accurate description and analysis of the movement of biological systems with applications such as rehabilitation assessment, prosthesis, and exoskeleton design. However, the widespread…

Wearable robotics for lower-limb assistance have become a pivotal area of research, aiming to enhance mobility for individuals with physical impairments or augment the performance of able-bodied users. Accurate and adaptive control systems…

This study presents the design and the kinematic optimization of a novel, underactuated, linkage-based robotic hand exoskeleton to assist users in performing grasping tasks. The device has been designed to apply only normal forces to the…

A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…

Two distinct technologies have gained attention lately due to their prospects for motor rehabilitation: robotics and brain-machine interfaces (BMIs). Harnessing their combined efforts is a largely uncharted and promising direction that has…

Self-balancing exoskeletons are a key enabling technology for individuals with mobility impairments. While the current challenges focus on human-compliant hardware and control, unlocking their use for daily activities requires a scene…

Nowadays, robots are found in a growing number of areas where they collaborate closely with humans. Enabled by lightweight materials and safety sensors, these cobots are gaining increasing popularity in domestic care, supporting people with…

Hand exoskeletons are critical tools for dexterous teleoperation and immersive manipulation interfaces, but achieving accurate hand tracking remains a challenge due to user-specific anatomical variability and donning inconsistencies. These…

With the increasing use of assistive robots in rehabilitation and assisted mobility of human patients, there has been a need for a deeper understanding of human-robot interactions particularly through simulations, allowing an understanding…

Exoskeletons modulate human movement across diverse applications, from performance augmentation to daily-life assistance. These systems often enforce specific kinematic patterns to mitigate injury risks and motivate users to keep moving…

Human intention detection with hand motion prediction is critical to drive the upper-extremity assistive robots in neurorehabilitation applications. However, the traditional methods relying on physiological signal measurement are…

The modeling and simulation of coupled neuromusculoskeletal-exoskeletal systems play a crucial role in human biomechanical analysis, as well as in the design and control of exoskeletons. However, conventional dynamic simulation frameworks…