Related papers: Flexible Exoskeleton Control Based on Binding Alig…

The purpose of this study is to develop a computationally efficient deep learning based control framework for high degree of freedom exoskeleton robots to address the real time computational limitations associated with conventional model…

While musculoskeletal humanoids have the advantages of various biomimetic structures, it is difficult to accurately control the body, which is challenging to model. Although various learning-based control methods have been developed so far,…

Controlling the interaction forces between a human and an exoskeleton is crucial for providing transparency or adjusting assistance or resistance levels. However, it is an open problem to control the interaction forces of lower-limb…

The musculoskeletal humanoid can move well under environmental contact thanks to its body softness. However, there are few studies that actively make use of the environment to rest its flexible musculoskeletal body. Also, its complex…

The 'infinite' passive degrees of freedom of soft robotic arms render their control especially challenging. In this paper, we leverage a previously developed model, which drawing equivalence of the soft arm to a series of universal joints,…

This paper introduces a new generalized control method designed for multi-degrees-of-freedom devices to help people with limited motion capabilities in their daily activities. The challenge lies in finding the most adapted strategy for the…

This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…

Positive biomechanical outcomes have been reported with lower-limb exoskeletons in laboratory settings, but these devices have difficulty delivering appropriate assistance in synchrony with human gait as the task or rate of phase…

Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base…

In this paper, an adaptive nonlinear strategy for the motion and force control of flexible manipulators is proposed. The approach provides robust motion control until contact is detected when force control is then available--without any…

The ability to flexibly leverage limbs for loco-manipulation is essential for enabling autonomous robots to operate in unstructured environments. Yet, prior work on loco-manipulation is often constrained to specific tasks or predetermined…

Spasticity is a common movement disorder symptom in individuals with cerebral palsy, hereditary spastic paraplegia, spinal cord injury and stroke, being one of the most disabling features in the progression of these diseases. Despite the…

The prevalence of mobility impairments due to conditions such as spinal cord injuries, strokes, and degenerative diseases is on the rise globally. Lower-limb exoskeletons have been increasingly recognized as a viable solution for enhancing…

This survey paper concerns Sensor Fusion for Predictive Control of Human-Prosthesis-Environment Dynamics in Assistive Walking. The powered lower limb prosthesis can imitate the human limb motion and help amputees to recover the walking…

This paper presents an active stabilization method for a fully actuated lower-limb exoskeleton. The method was tested on the exoskeleton ATALANTE, which was designed and built by the French start-up company Wandercraft. The main objective…

Common disabilities like stroke and spinal cord injuries may cause loss of motor function in hands. They can be treated with robot assisted rehabilitation techniques, like continuously opening and closing the hand with help of a robot, in a…

Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…

When we develop wearable assistive devices comfort and support are two main issues needed to be considered. In conventional design approaches, the degree of freedom of wearer's joint movement tends to be oversimplified. Accordingly, the…

Existing robotic lower-limb prostheses use autonomous control to address cyclic, locomotive tasks, but they are inadequate to operate the prosthesis for daily activities that are non-cyclic and unpredictable. To address this challenge, this…

This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400~g at take-off, the mechanism is actuated in the forward body direction, enabling precise position…