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The complex ways in which humans utilize their bodies in sports and martial arts are remarkable, and human motion analysis is one of the most effective tools for robot body design and control. On the other hand, motion analysis is not easy,…
This paper presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work has shown that providing some freedom of movement around a…
Robot-led physical therapy (PT) offers a promising avenue to enhance the care provided by clinical exercise specialists (ES) and physical and occupational therapists to improve patients' adherence to prescribed exercises outside of a…
Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid body designs and an optical tracking volume setup for…
The body structure of an anatomically correct tendon-driven musculoskeletal humanoid is complex, and the difference between its geometric model and the actual robot is very large because expressing the complex routes of tendon wires in a…
Endowing humanoid robots with the ability to perform highly dynamic motions akin to human-level acrobatics has been a long-standing challenge. Successfully performing these maneuvers requires close consideration of the underlying physics in…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
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…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
This paper presents the development of a wearable ankle rehabilitation robot based on a 3-RRR spherical parallel mechanism (SPM) to support multi-DOF recovery through pitch, roll, and yaw motions. The system features a compact, ergonomic…
Assistive robotic devices can increase the independence of individuals with motor impairments. However, each person is unique in their level of injury, preferences, and skills, which moreover can change over time. Further, the amount of…
Living a self-determined life independent of human caregivers or fully autonomous robots is a crucial factor for human dignity and the preservation of self-worth for people with motor impairments. Assistive robotic solutions - particularly…
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…
Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance. This imbalance is not necessarily due to hardware…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
Restoration of hand function is one of the highest priorities for SCI populations. In this work, we present a prototype of a robotic assistive orthosis capable of implementing tenodesis user control. The underactuated device provides active…
With the increasing use of assistive robots in rehabilitation and assisted mobility of human patients, there has been a need for a deeper understanding of human-robot interactions particularly through simulations, allowing an understanding…
Parkinson's disease (PD) is a common neurodegenerative disease that affects motor and non-motor symptoms. Postural instability and freezing of gait (FOG) are considered motor symptoms of PD resulting in falling. In this study, we…
Soft robotics is a swiftly evolving field. Pneumatic actuators are suitable for driving soft robots because of their superior performance. However, their control is challenging due to the hysteresis characteristics. In response to this…
The use of wearable robots has been widely adopted in rehabilitation training for patients with hand motor impairments. However, the uniqueness of patients' muscle loss is often overlooked. Leveraging reinforcement learning and a…