Related papers: Towards Data-Driven Adaptive Exoskeleton Assistanc…
Most stroke patients experience upper limb motor dysfunction. Compensatory movements are prevalent during rehabilitation training, which is detrimental to patients' long-term recovery. Therefore, detecting compensatory movements is of great…
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…
This manuscript presents control of a high-DOF fully actuated lower-limb exoskeleton for paraplegic individuals. The key novelty is the ability for the user to walk without the use of crutches or other external means of stabilization. We…
Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee requires an active prosthesis, but has the potential to enable…
We present a personal mobility device for lower-body impaired users through a light-weighted exoskeleton on wheels. On its core, a novel passive exoskeleton provides postural transition leveraging natural body postures with support to the…
Data-driven joint-moment predictors offer a scalable alternative to laboratory-based inverse-dynamics pipelines for biomechanics estimation and exoskeleton control. Meanwhile, physics-based reinforcement learning (RL) enables…
Data-driven simulation of pedestrian dynamics is an incipient and promising approach for building reliable microscopic pedestrian models. We propose a methodology based on generalized regression neural networks, which does not have to deal…
While convolutional neural networks (CNNs) have been successfully applied to many challenging classification applications, they typically require large datasets for training. When the availability of labeled data is limited, data…
In this study, we present a feedforward control system designed for active gravity compensation on an upper body exoskeleton. The system utilizes only positional data from internal motor sensors to calculate torque, employing analytical…
The generalizability of machine learning (ML) models for wearable monitoring in stroke rehabilitation is often constrained by the limited scale and heterogeneity of available data. Data augmentation addresses this challenge by adding…
Predicting the future trajectories of pedestrians is a challenging problem that has a range of application, from crowd surveillance to autonomous driving. In literature, methods to approach pedestrian trajectory prediction have evolved,…
Post-stroke rehabilitation is often necessary for patients to regain proper walking gait. However, the typical therapy process can be exhausting and physically demanding for therapists, potentially reducing therapy intensity, duration, and…
In this paper, an approach for gait assistance with a lower body exoskeleton is described. Two concepts, transparency and motion assistance, are combined. The transparent mode, where the system is following the user's free motion with a…
In the realm of exoskeleton control, achieving precise control poses challenges due to the mechanical delay of exoskeletons. To address this, incorporating future gait trajectories as feed-forward input has been proposed. However, existing…
Exoskeletons play a crucial role in assisting patients with varying mobility levels during rehabilitation. However, existing control strategies face challenges such as imprecise trajectory tracking, interaction torque oscillations, and…
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…
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…
In this paper, we present an integrated human-in-the-loop simulation paradigm for the design and evaluation of a lower extremity exoskeleton that is elastically strapped onto human lower limbs. The exoskeleton has 3 rotational DOFs on each…
Dynamic prediction of locomotor capacity after stroke could enable more individualized rehabilitation, yet current assessments largely provide static impairment scores and do not indicate whether patients can perform specific tasks such as…
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…