Related papers: Optimal Kinematic Synthesis and Prototype Developm…
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
Exoskeleton devices impose kinematic constraints on a user's motion and affect their stability due to added mass but also due to the simplified mechanical design. This paper investigates how these constraints resulting from simplified…
Obstacle crossing is an essential component of human locomotion, particularly for individuals with lower limb amputations who face elevated risks of imbalance and falls. While prior studies have explored this task, they often lack a…
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…
Joint injuries, and their long-term consequences, present a substantial global health burden. Wearable prophylactic braces are an attractive potential solution to reduce the incidence of joint injuries by limiting joint movements that are…
Robotic assistance in minimally invasive surgery can greatly enhance surgical precision and reduce surgeon fatigue. This paper presents a focused investigation on the kinematic and ergonomic design principles for a laparoscopic surgical…
During the development of wearable exoskeletons, evaluations involving human subjects pose inherent safety risks. Therefore, systematic testing is often conducted using robots that emulate human motion. However, reproducing human movements…
Task-dependent controllers widely used in exoskeletons track predefined trajectories, which overly constrain the volitional motion of individuals with remnant voluntary mobility. Energy shaping, on the other hand, provides task-invariant…
Choosing a kinematic model for a continuum robot typically involves making a tradeoff between accuracy and computational complexity. One common modeling approach is to use the Cosserat rod equations, which have been shown to be accurate for…
Configurable robots are made up of robotic modules that can be assembled or can configure themselves into multiple robot configurations. In this research plan, a method for upper-body rehabilitation will be discussed in the form of a…
Kinesthetic garments provide physical feedback on body posture and motion through tailored distributions of reinforced material. Their ability to selectively stiffen a garment's response to specific motions makes them appealing for…
Lower Limb Exoskeletons (LLEs) are wearable robots that provide mechanical power to the user. Human-exoskeleton (HE) connections must preserve the user's natural behavior during the interaction, avoiding undesired forces. Therefore,…
Unilateral muscle weakness often leads to asymmetric gait, disrupting interlimb coordination and stance timing. This study presents a reinforcement learning (RL) based musculoskeletal simulation framework to (1) quantify how progressive…
While existing literature encompasses exoskeleton-assisted sit-stand tasks, the integration of energy recovery mechanisms remains unexplored. To push these boundaries further, this study introduces a portable pneumatic knee exoskeleton that…
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…
Background and aim: Image registration and alignment are the main limitations of augmented reality-based knee replacement surgery. This research aims to decrease the registration error, eliminate outcomes that are trapped in local minima to…
Accurate lower-limb joint kinematic estimation is critical for applications such as patient monitoring, rehabilitation, and exoskeleton control. While previous studies have employed wearable sensor-based deep learning (DL) models for…
Inverse Kinematics (IK) remains a dynamic field of research, with various methods striving for speed and precision. Despite advancements, many IK techniques face significant challenges, including high computational demands and the risk of…
Prosthesis users can regain partial limb functionality, however, full natural limb mobility is rarely restored, often resulting in compensatory movements that lead to discomfort, inefficiency, and long-term physical strain. To address this…
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…