Related papers: Task-Agnostic Exoskeleton Control Supports Elderly…
The human shoulder, with its glenohumeral joint, tendons, ligaments, and muscles, allows for the execution of complex tasks with precision and efficiency. However, current robotic shoulder designs lack the compliance and compactness…
Human joint dynamic stiffness plays an important role in the stability of performance augmentation exoskeletons. In this paper, we consider a new frequency domain model of the human joint dynamics which features a complex value stiffness.…
Although there has been recent progress in control of multi-joint prosthetic legs for rhythmic tasks such as walking, control of these systems for non-rhythmic motions and general real-world maneuvers is still an open problem. In this…
This paper analyses joint-space walking mechanisms and redundancies in delivering functional gait outcomes. Multiple biomechanical measures are analysed for two healthy male adults who participated in a multi-factorial study and walked…
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…
Artificial intelligence technologies that can assist with at-home tasks have the potential to help older adults age in place. Robot assistance in particular has been applied towards physical and cognitive support for older adults living…
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…
Physical activity during hip fracture rehabilitation is essential for mitigating long-term functional decline in geriatric patients. However, it is rarely quantified in clinical practice. Existing continuous monitoring systems with…
Bimanual object manipulation involves multiple visuo-haptic sensory feedbacks arising from the interaction with the environment that are managed from the central nervous system and consequently translated in motor commands. Kinematic…
Designing an exoskeleton to reduce the risk of low-back injury during lifting is challenging. Computational models of the human-robot system coupled with predictive movement simulations can help to simplify this design process. Here, we…
Although a growing number of exoskeletons have been developed for occupational applications, wrist exoskeletons remain relatively rare. However, in the meat processing industry, elbow and hand-wrist musculoskeletal disorders are…
Impedance-based control represents a prevalent strategy in the powered trans femoral prostheses because of its ability to reproduce natural walking. However, most existing studies have developed impedance-based prosthesis controllers for…
Strength training is a key determinant of healthy aging, yet adherence to formal exercise programs among older adults remains low. While many technologies aim to encourage physical activity in older adults, they typically rely on dedicated…
Hybrid assistive systems that integrate functional electrical stimulation (FES) and robotic exoskeletons offer a promising approach for neurorehabilitation. However, control of these systems remains challenging due to actuator redundancy…
This paper makes two scientific contributions to the field of exoskeleton-based action and movement recognition. First, it presents a novel machine learning and pattern recognition-based framework that can detect a wide range of actions and…
Prosthesis users can regain partial limb functionality, however, full natural limb mobility is rarely restored, often resulting in compensatory movements that lead to discomfort, inefficiency, and long-term physical strain. To address this…
Wrist-driven orthotics have been designed to assist people with C6-7 spinal cord injury, however, the kinematic constraint imposed by such a control strategy can impede mobility and lead to abnormal body motion. This study characterizes…
Sufficient physical activity can prolong the ability of older adults to live inde-pendently. Community-based exercise programs can be enhanced by regularly performing exercises at home. To support such a home-based exercise program, a…
The present study investigated the effect of a passive lower-limb exoskeleton on lumbar load and verified the effectiveness of biomechanical analysis for evaluating the physical burden while wearing the exoskeleton. Twelve healthy male…
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…