相关论文: Kinematics analysis and three-dimensional simulati…
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…
In this work, we develop an automated method to generate 3D human walking motion in simulation which is comparable to real-world human motion. At the core, our work leverages the ability of deep reinforcement learning methods to learn…
Recursive matrix relations for kinematics and dynamics of the Orthoglide parallel robot having three concurrent prismatic actuators are established in this paper. These are arranged according to the Cartesian coordinate system with fixed…
The upper limb robotic exoskeleton is an electromechanical device which use to recover a patients motor dysfunction in the rehabilitation field. It can provide repetitive, comprehensive, focused, positive, and precise training to regain the…
Kinematic structure of an exoskeleton is the most fundamental block of its design and is determinant of many functional capabilities of it. Although numerous upper limb rehabilitation devices have been designed in the recent years, there is…
In this article, we propose a method for calculation of the inverse and direct dynamic models of the Orthoglide, a parallel robot with threedegrees of freedom in translation. These models are calculated starting from the elements of the…
Recursive modelling for the kinematics of a 3-PRP planar parallel robot is presented in this paper. Three planar chains connecting to the moving platform of the manipulator are located in a vertical plane. Knowing the motion of the…
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…
The range of rotation (RoR) in a knee exoskeleton is a critical factor in rehabilitation, as it directly influences joint mobility, muscle activation, and recovery outcomes. A well-designed RoR ensures that patients achieve near-natural…
Robotic systems are increasingly used in rehabilitation to provide high intensity training for patients with motor impairment. The results of controlled trials involving human subjects confirm the effectiveness of robot-enhanced methods and…
Analyzing human motion is an active research area, with various applications. In this work, we focus on human motion analysis in the context of physical rehabilitation using a robot coach system. Computer-aided assessment of physical…
Continuum robots have emerged as a promising technology in the medical field due to their potential of accessing deep sited locations of the human body with low surgical trauma. When deriving physics-based models for these robots,…
In this paper, we introduce a method for reconstructing 3D humans from a single image using a biomechanically accurate skeleton model. To achieve this, we train a transformer that takes an image as input and estimates the parameters of the…
Several upper-limb exoskeleton robots have been developed for stroke rehabilitation, but their rather low level of individualized assistance typically limits their effectiveness and practicability. Individualized assistance involves an…
Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions,…
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
This paper presents modeling and simulation of a spined quadruped robot. Extended literature survey is employed and spine joints researches of the quadruped robots are classified. Most of the researchers execute simplified quadruped robot…
This paper introduces a 3D parallel robot with three identical five-degree-of-freedom chains connected to a circular brace end-effector, aimed to serve as an assistive device for patients with cervical spondylosis. The inverse kinematics of…
Piecewise constant curvature is a popular kinematics framework for continuum robots. Computing the model parameters from the desired end pose, known as the inverse kinematics problem, is fundamental in manipulation, tracking and planning…
The majority of inverse kinematics (IK) algorithms search for solutions in a configuration space defined by joint angles. However, the kinematics of many robots can also be described in terms of distances between rigidly-attached points,…