Related papers: Proximal powered knee placement: a case study
Many people could benefit from exoskeleton assistance during gait, for either medical or nonmedical purposes. But exoskeletons bring added mass and structure, which in turn require compensating for. In this work, we present a lightweight,…
Automatically configuring a robotic prosthesis to fit its user's needs and physical conditions is a great technical challenge and a roadblock to the adoption of the technology. Previously, we have successfully developed reinforcement…
Obstacle crossing is an essential component of human locomotion, particularly for individuals with lower limb amputations who face elevated risks of imbalance and falls. While prior studies have explored this task, they often lack a…
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…
This article explores assistive devices for upper limb movement in people with disabilities through a systematic review based on the PRISMA methodology. The studied devices encompass technologies ranging from orthoses to advanced robotics,…
Human walking efficiency relies on the elastic recoil of the Achilles tendon, facilitated by a "catapult mechanism" that stores energy during stance and releases it during push-off. The catapult release mechanism could include the passive…
We propose an online motion planner for legged robot locomotion with the primary objective of achieving energy efficiency. The conceptual idea is to leverage a placement set of footstep positions based on the robot's body position to…
While existing literature encompasses exoskeleton-assisted sit-stand tasks, the integration of energy recovery mechanisms remains unexplored. To push these boundaries further, this study introduces a portable pneumatic knee exoskeleton that…
Functional upper-limb prosthetic training can improve users performance in controlling prostheses and has been incorporated into occupational therapy for individuals in need. In recent years, virtual reality (VR) and augmented reality (AR)…
This paper exposes a control architecture enabling rehabilitation of walking impaired patients with the lower-limb exoskeleton Atalante. Atalante's control system is modified to allow the patient to contribute to the walking motion through…
Powered ankle prostheses effectively assist people with lower limb amputation to perform daily activities. High performance prostheses with adjustable compliance and capability to predict and implement amputee's intent are crucial for them…
This study presents a powered transtibial prosthesis with complete push-off assistance, RoboANKLE. The design aims to fulfill specific requirements, such as a sufficient range of motion (RoM) while providing the necessary torque for…
People with lower-limb loss, the majority of which use passive prostheses, exhibit a high incidence of falls each year. Powered lower-limb prostheses have the potential to reduce fall rates by actively helping the user recover from a…
Knee orthotic devices are widely proposed by physicians and medical practitioners for preventive or therapeutic objectives in relation with their effects, usually known as to stabilize joint or restrict ranges of motion. This study focuses…
In this work, we introduce the principle, design and mechatronics of Exo-Muscle, a novel assistive device for the knee joint. Different from the existing systems based on rigid exoskeleton structures or soft-tendon driven approaches, the…
Personalizing medical devices such as lower limb wearable robots is challenging. While the initial feasibility of automating the process of knee prosthesis control parameter tuning has been demonstrated in a principled way, the next…
Powered lower limb exoskeletons are a viable solution for people with a spinal cord injury to regain mobility for their daily activities. However, the commonly employed rigid actuation and pre-programmed trajectories increase the risk of…
A number of studies have proposed to use domain adaptation to reduce the training efforts needed to control an upper-limb prosthesis exploiting pre-trained models from prior subjects. These studies generally reported impressive reductions…
Robotic rehabilitation can deliver high-dose gait therapy and improve motor function after a stroke. However, for many devices, high costs and lengthy setup times limit clinical adoption. Thus, we designed, built, and evaluated the Passive…
In this paper, we study dynamic stability during running, focusing on the effects of speed and the use of a leg prosthesis. We compute and compare the maximal Lyapunov exponents of kinematic time-series data from subjects with and without…