Related papers: Augmenting knee biomechanics through programmable …
Metastructured auxetic patches, characterized by negative Poisson's ratios, offer unique mechanical properties that closely resemble the behavior of human tissues and organs. As a result, these patches have gained significant attention for…
This work presents a novel interactive system for simple garment composition and surface patterning. Our approach makes it easier for casual users to customize machine-knitted garments, while enabling more advanced users to design their own…
Adaptive structures are of interest for their ability to dynamically modify mechanical properties post fabrication, enabling structural performance that is responsive to environmental uncertainty and changing loading conditions. Dynamic…
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…
Recent advances in garment simulation have brought high-quality results closer to real-time performance. Physics-based simulators can produce accurate motion, but remain too computationally expensive for interactive applications. In…
Knee osteoarthritis (OA) is a widespread chronic condition that impairs mobility and diminishes quality of life. Despite the proven benefits of exercise therapy and patient education in managing the OA symptoms pain and functional…
Additive Manufacturing (AM) is a promising solution for handling the complexity of fabricating soft robots. However, the AM of hyperelastic materials is still challenging with a limited material range. Within this work, pellet-based 3D…
Squatting is one of the most demanding lower-limb movements, requiring substantial muscular effort and coordination. Reducing the physical demands of this task through intelligent and personalized assistance has significant implications,…
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…
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…
Simulation studies like finite element (FE) modeling provide insight into knee joint mechanics without patient experimentation. Generic FE models represent biomechanical behavior of the tissue by overlooking variations in geometry, loading,…
Simulation studies, such as finite element (FE) modeling, offer insights into knee joint biomechanics, which may not be achieved through experimental methods without direct involvement of patients. While generic FE models have been used to…
Mobility disabilities are prominent in society with wide-ranging detriments to affected individuals. Addressing the specific deficits of individuals within this heterogeneous population requires modular, partial-assist, lower-limb…
Soft robots, inspired by elephant trunks or octopus arms, offer extraordinary flexibility to bend, twist, and elongate in ways that rigid robots cannot. However, their motion planning remains a challenge, especially in cluttered…
For humans accustomed to 1-G environments on Earth, microgravity conditions in orbit and on celestial bodies with lower gravitational field, such as the Moon, can be physiologically compromising. Of these, motor and fine-dexterity tasks…
Exoskeletons modulate human movement across diverse applications, from performance augmentation to daily-life assistance. These systems often enforce specific kinematic patterns to mitigate injury risks and motivate users to keep moving…
The evolution from motion capture and teleoperation to robot skill learning has emerged as a hotspot and critical pathway for advancing embodied intelligence. However, existing systems still face a persistent gap in simultaneously achieving…
Several upper-limb exoskeleton robots have been developed for stroke rehabilitation, but their rather low level of individualized assistance typically limits their effectiveness and practicability. Individualized assistance involves an…
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…
Human impedance parameters play an integral role in the dynamics of strength amplification exoskeletons. Many methods are used to estimate the stiffness of human muscles, but few are used to improve the performance of strength amplification…