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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…
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…
The Edge computing paradigm has gained prominence in both academic and industry circles in recent years. By implementing edge computing facilities and services in robotics, it becomes a key enabler in the deployment of artificial…
Squatting is one of the most demanding lower-limb movements, requiring substantial muscular effort and coordination. Reducing the physical demands of this task through intelligent and personalized assistance has significant implications,…
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…
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…
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…
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…
The exponential growth of Internet-connected devices has presented challenges to traditional centralized computing systems due to latency and bandwidth limitations. Edge computing has evolved to address these difficulties by bringing…
Edge computing and artificial intelligence (AI), especially deep learning for nowadays, are gradually intersecting to build a novel system, called edge intelligence. However, the development of edge intelligence systems encounters some…
Using lower-limbs exoskeletons provides potential advantages in terms of productivity and safety associated with reduced stress. However, complex issues in human-robot interaction are still open, such as the physiological effects of…
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…
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…
Spinal cord injuries frequently impair the ability to walk. Powered lower limb exoskeletons offer a promising solution to restore walking ability. However, they are currently restricted to even ground. We hypothesized that compliant…
This paper introduces a prototype for a new approach to assistive robotics, integrating edge computing with Natural Language Processing (NLP) and computer vision to enhance the interaction between humans and robotic systems. Our proof of…
The recent success of neural networks for solving difficult decision tasks has incentivized incorporating smart decision making "at the edge." However, this work has traditionally focused on neural network inference, rather than training,…
Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control…
This research focuses on real-time monitoring and analysis of track and field athletes, addressing the limitations of traditional monitoring systems in terms of real-time performance and accuracy. We propose an IoT-optimized system that…
The upper limb of the body is a vital for various kind of activities for human. The complete or partial loss of the upper limb would lead to a significant impact on daily activities of the amputees. EMG carries important information of…
While the musculoskeletal humanoid has various biomimetic benefits, its complex modeling is difficult, and many learning control methods have been developed. However, for the actual robot, the hysteresis of its joint angle tracking is still…