Related papers: Adaptive Parameter Control Using AAN for Lower Lim…
Robot arms with lighter weight can reduce unnecessary energy consumption which is desirable in robotic industry. However, lightweight arms undergo undesirable elastic deformation. In this paper, the planar motion of a lightweight flexible…
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 paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to the base surface. The method employs a…
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It employs a low-cost measuring system…
We develop a learning-based algorithm for the control of autonomous systems governed by unknown, nonlinear dynamics to satisfy user-specified spatio-temporal tasks expressed as signal temporal logic specifications. Most existing algorithms…
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…
By 2050, the global demand for assistive care is expected to reach 3.5 billion people, far outpacing the availability of human caregivers. Existing robotic solutions remain expensive and require technical expertise, limiting accessibility.…
Humanoid robots are envisioned to adapt demonstrated motions to diverse real-world conditions while accurately preserving motion patterns. Existing motion prior approaches enable well adaptability with a few motions but often sacrifice…
Real-Time Optimization (RTO) plays a crucial role in the process operation hierarchy by determining optimal set-points for the lower-level controllers. However, at the control layer, these set-points may be difficult to track due to…
The central nervous system exploits anticipatory (APAs) and compensatory (CPAs) postural adjustments to maintain the balance.The postural adjustments comprising stability of the center of mass (CoM) and the pressure distribution of the body…
For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…
Force control is essential for medical robots when touching and contacting the patient's body. To increase the stability and efficiency in force control, an Adaption Module could be used to adjust the parameters for different contact…
Current control strategies for powered lower limb prostheses often lack awareness of the environment and the user's intended interactions with it. This limitation becomes particularly apparent in complex terrains. Obstacle negotiation, a…
As the global population ages, effective rehabilitation and mobility aids will become increasingly critical. Gait assistive robots are promising solutions, but designing adaptable controllers for various impairments poses a significant…
Developing exoskeletons that can reduce the metabolic cost of assisted subjects is challenging since a systematic design approach is required to capture the effects of device dynamics and the assistance torques on human performance. Design…
Control strategies for active prostheses or orthoses use sensor inputs to recognize the user's locomotive intention and generate corresponding control commands for producing the desired locomotion. In this paper, we propose a learning-based…
Humans rely on ankle torque to maintain standing balance, particularly in the presence of small to moderate perturbations. Reductions in maximum torque (MT) production and maximum rate of torque development (MRTD) occur at the ankle with…
Adaptive Horizon Model Predictive Control (AHMPC) is a scheme for varying as needed the horizon length of Model Predictive Control (MPC). Its goal is to achieve stabilization with horizons as small as possible so that MPC can be used on…
A low-cost 1-DOF hand exoskeleton for neuromuscular rehabilitation has been designed and assembled. It consists of a base equipped with a servo motor, an index finger part, and a thumb part, connected through three gears. The index part has…
Drift vehicle control offers valuable insights to support safe autonomous driving in extreme conditions, which hinges on tracking a particular path while maintaining the vehicle states near the drift equilibrium points (DEP). However,…