Related papers: Therapist-Exoskeleton-Patient Interaction for Gait…
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…
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…
Physical interaction between individuals plays an important role in human motor learning and performance during shared tasks. Using robotic devices, researchers have studied the effects of dyadic haptic interaction mostly focusing on the…
Gait rehabilitation interventions targeting paretic propulsion can improve walking speed and function in individuals post-stroke. Previous work has demonstrated that real-time biofeedback targeting anterior ground reaction forces (AGRFs)…
Effective exoskeleton assistance requires co-adaptation: as the device alters joint dynamics, the user reorganizes neuromuscular coordination, creating a non-stationary learning problem. Most learning-based approaches do not explicitly…
Gait adaptation is an important part of gait analysis and its neuronal origin and dynamics has been studied extensively. In neurorehabilitation, it is important as it perturbs neuronal dynamics and allows patients to restore some of their…
Robotic rehabilitation can deliver high-dose gait therapy and improve motor function after a stroke. However, for many devices, high costs and lengthy setup times limit clinical adoption. Thus, we designed, built, and evaluated the Passive…
This paper presents advancements in the functionalities of the Recupera-Reha lower extremity exoskeleton robot. The exoskeleton features a series-parallel hybrid design characterized by multiple kinematic loops resulting in 148 degrees of…
Physical movement therapy is a crucial method of rehabilitation aimed at reinstating mobility among patients facing motor dysfunction due to neurological conditions or accidents. Such therapy is usually featured as patient-specific,…
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…
This paper exposes a control architecture enabling rehabilitation of walking impaired patients with the lower-limb exoskeleton Atalante. Atalante's control system is modified to allow the patient to contribute to the walking motion through…
This paper presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work has shown that providing some freedom of movement around a…
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…
Robotic systems are increasingly used in rehabilitation to provide high intensity training for patients with motor impairment. The results of controlled trials involving human subjects confirm the effectiveness of robot-enhanced methods and…
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…
Human-machine interfaces (HMI) play a pivotal role in the rehabilitation and daily assistance of lower-limb amputees. The brain of such interfaces is a control model that detects the user's intention using sensor input and generates…
Exoskeletons open up a unique interaction space that seamlessly integrates users' body movements with robotic actuation. Despite its potential, human-exoskeleton interaction remains an underexplored area in HCI, largely due to the lack of…
Hip exoskeletons are increasing in popularity due to their effectiveness across various scenarios and their ability to adapt to different users. However, personalizing the assistance often requires lengthy tuning procedures and…
Robot-Assisted Therapy (RAT) has successfully been used in Human Robot Interaction (HRI) research by including social robots in health-care interventions by virtue of their ability to engage human users in both social and emotional…
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…