Related papers: Augmenting knee biomechanics through programmable …
Existing prosthetic/orthotic designs are rarely based on kinetostatics of a biological finger, especially its tendon-pulley system (TPS) which helps render a set of extraordinary functionalities. Studies on computational models or cadaver…
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…
Soft elastic filaments that can be stretched, bent and twisted exhibit a range of topologically and geometrically complex morphologies that include plectonemes, solenoids, knot-like and braid-like structures. We combine numerical…
Achieving an optimal biomechanical environment within bone scaffolds is critical for promoting tissue regeneration, particularly in load-bearing anatomical sites where rigid fixation can induce stress shielding and compromise healing.…
Over the years, the number of exoskeleton devices utilized for upper-limb rehabilitation has increased dramatically, each with its own set of pros and cons. Most exoskeletons are not portable, limiting their utility to daily use for house…
Reliability theory is used to assess the sensitivity of a passive flexion and active flexion of the human lower leg Finite Element (FE) models with Total Knee Replacement (TKR) to the variability in the input parameters of the respective FE…
Biological muscles have always attracted robotics researchers due to their efficient capabilities in compliance, force generation, and mechanical work. Many groups are working on the development of artificial muscles, however,…
The heterogeneous micromechanical properties of biological tissues have profound implications across diverse medical and engineering domains. However, identifying full-field heterogeneous elastic properties of soft materials using…
Parallel-elastic joints can improve the efficiency and strength of robots by assisting the actuators with additional torques. For these benefits to be realized, a spring needs to be carefully designed. However, designing robots is an…
We present the design of a new robotic human augmentation system that will assist the operator in carrying a heavy payload, reaching and maintaining difficult postures, and ultimately better performing their job. The Extra Robotic Legs…
We apply Physics-Informed Neural Networks (PINNs) for solving identification problems of nonhomogeneous materials. We focus on the problem with a background in elasticity imaging, where one seeks to identify the nonhomogeneous mechanical…
Current upper limb prostheses aim to enhance user independence in daily activities by incorporating basic motor functions. However, they fall short of replicating the natural movement and interaction capabilities of the human arm. In…
The natural impedance, or dynamic relationship between force and motion, of a human operator can determine the stability of exoskeletons that use interaction-torque feedback to amplify human strength. While human impedance is typically…
Nonsurgical treatment of Dropped Head Syndrome (DHS) incurs the use of collar-type orthoses that immobilize the neck and cause discomfort and sores under the chin. Articulated orthoses have the potential to support the head posture while…
Quantitative estimation of human joint motion in daily living spaces is essential for early detection and rehabilitation tracking of neuromusculoskeletal disorders (e.g., Parkinson's) and mitigating trip and fall risks for older adults.…
Fatigue modeling is essential for motion synthesis tasks to model human motions under fatigued conditions and biomechanical engineering applications, such as investigating the variations in movement patterns and posture due to fatigue,…
We introduce a new isometric strain model for the study of the dynamics of cloth garments in a moderate stress environment, such as robotic manipulation in the neighborhood of humans. This model treats textiles as surfaces which are…
Soft tissues - such as ligaments and tendons - primarily consist of solid (collagen, predominantly) and liquid phases. Understanding the interaction between such components and how they change under physiological loading sets the basis for…
Despite recent advances in wearable technology, interfacing movement assistance devices with the human body remains challenging. We present a stretchable pneumatic sleeve that can anchor an exosuit actuator to the human arm with a low…
Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstation-like counterparts. However, the field is generally lacking effective methods by which the user can operate the device: such…