Related papers: Uncertainty-Aware Ankle Exoskeleton Control
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…
Exoskeletons have been shown to effectively assist humans during steady locomotion. However, their effects on non-steady locomotion, characterized by nonlinear phase progression within a gait cycle, remain insufficiently explored,…
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…
This paper presents a neural network (NN) based adaptive feedback regulator to ensure the lateral and longitudinal stability and regulate the desired walking velocity of a lower-limb exoskeleton under model uncertainty. The traditional…
Back-support exoskeletons are commonly used in the workplace to reduce low back pain risk for workers performing demanding activities. However, for the assistance of tasks differing from lifting, back-support exoskeletons potential has not…
A significant challenge for the control of a robotic lower extremity rehabilitation exoskeleton is to ensure stability and robustness during programmed tasks or motions, which is crucial for the safety of the mobility-impaired user. Due to…
Achieving stable bipedal walking on surfaces with unknown motion remains a challenging control problem due to the hybrid, time-varying, partially unknown dynamics of the robot and the difficulty of accurate state and surface motion…
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…
Upper-limb exoskeletons are primarily designed to provide assistive support by accurately interpreting and responding to human intentions. In home-care scenarios, exoskeletons are expected to adapt their assistive configurations based on…
Partial-assistance exoskeletons hold significant potential for gait rehabilitation by promoting active participation during (re)learning of normative walking patterns. Typically, the control of interaction torques in partial-assistance…
One of the typical purposes of using lower-limb exoskeleton robots is to provide assistance to the wearer by supporting their weight and augmenting their physical capabilities according to a given task and human motion intentions. The…
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…
Human walkers traverse diverse environments and demonstrate different gait locomotion and energy cost on granular terrains compared to solid ground. We present a stiffness-based model predictive control approach of knee exoskeleton…
Assistive exoskeletons have shown great potential in enhancing mobility for individuals with motor impairments, yet their effectiveness relies on precise parameter tuning for personalized assistance. In this study, we investigate the…
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…
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…
Designing generalizable control policies for lower-limb exoskeletons remains fundamentally constrained by exhaustive data collection or iterative optimization procedures, which limit accessibility to clinical populations. To address this…
Background: Lower limb exoskeletons can enhance quality of life, but widespread adoption is limited by the lack of frameworks to assess their biomechanical and human-robot interaction effects, which are essential for developing adaptive and…
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…