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Accurate lower-limb joint kinematic estimation is critical for applications such as patient monitoring, rehabilitation, and exoskeleton control. While previous studies have employed wearable sensor-based deep learning (DL) models for…
Passive shoulder exoskeletons have been widely introduced in the industry to aid upper extremity movements during repetitive overhead work. As an ergonomic intervention, it is important to understand how users adapt to these devices over…
Effective rehabilitation methods are essential for the recovery of lower limb dysfunction caused by stroke. Nowadays, robotic exoskeletons have shown great potentials in rehabilitation. Nevertheless, traditional rigid exoskeletons are…
To diagnose, plan, and treat musculoskeletal pathologies, understanding and reproducing muscle recruitment for complex movements is essential. With muscle activations for movements often being highly redundant, nonlinear, and time…
To enable the broad adoption of wearable robotic exoskeletons in medical and industrial settings, it is crucial they can adaptively support large repertoires of movements. We propose a new human-machine interface to simultaneously drive…
This paper presents design principles for comfort-centered wearable robots and their application in a lightweight and backdrivable knee exoskeleton. The mitigation of discomfort is treated as mechanical design and control issues and three…
Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…
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…
Rehabilitation technology is a natural setting to study the shared learning and decision-making of human and machine agents. In this work, we explore the use of Hierarchical Reinforcement Learning (HRL) to develop adaptive control…
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…
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,…
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…
Objective: Overhead tasks are a primary inducement to work-related musculoskeletal disorders. Aiming to reduce shoulder physical loads, passive shoulder exoskeletons are increasingly prevalent in the industry due to their lightweight,…
Robot-assisted therapy can deliver high-dose, task-specific training after neurologic injury, but most systems act primarily at the limb level-engaging the impaired neural circuits only indirectly-which remains a key barrier to truly…
Just like in humans vision plays a fundamental role in guiding adaptive locomotion, when designing the control strategy for a walking assistive technology, Computer Vision may bring substantial improvements when performing an…
State of the art controllers for back exoskeletons largely rely on body kinematics. This results in control strategies which cannot provide adaptive support under unknown external loads. We developed a neuromechanical model-based controller…
Due to the redundancy of our motor system, movements can be performed in many ways. While multiple motor control strategies can all lead to the desired behavior, they result in different joint and muscle forces. This creates opportunities…
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…
In the control of lower-limb exoskeletons with feet, the phase in the gait cycle can be identified by monitoring the weight distribution at the feet. This phase information can be used in the exoskeleton's controller to compensate the…
Balance loss is a significant challenge in lower-limb exoskeleton applications, as it can lead to potential falls, thereby impacting user safety and confidence. We introduce a control framework for omnidirectional recovery step planning by…