相关论文: Retractable Prosthesis for Transfemoral Amputees U…
For lower limb amputees, an active ankle joint prosthesis can provide basic mobility functions. This study focuses on an ankle joint prosthesis system based on the principle of electric-hydraulic actuation. By analyzing the characteristics…
The issues of research required in the field of bio medical engineering and externally-powered prostheses are attracting attention of regulatory bodies and the common people in various parts of the globe. Today, 90 percent of prostheses…
Current upper limb prostheses aim to enhance user independence in daily activities by incorporating basic motor functions. However, they fall short of replicating the natural movement and interaction capabilities of the human arm. In…
Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic…
Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee requires an active prosthesis, but has the potential to enable…
Design of robotic systems that safely and efficiently operate in uncertain operational conditions, such as rehabilitation and physical assistance robots, remains an important challenge in the field. Current methods for the design of energy…
Lower-limb prosthesis wearers are more prone to falling than non-amputees. Powered prostheses can reduce this instability of passive prostheses. While shown to be more stable in practice, powered prostheses generally use model-independent…
Aging populations and the rising prevalence of neurological and musculoskeletal disorders increase the demand for wearable mobility assistive devices that are effective, comfortable, and anatomically compatible. Many existing systems use…
Powered ankle-foot prostheses can often reduce the energy cost of walking by assisting with push-off. However, focus on providing mechanical work may lead to ignoring or exacerbating common issues with chronic pain, irritation, pressure…
Building robotic prostheses requires a sensor-based interface designed to provide the robotic hand with the control required to perform hand gestures. Traditional Electromyography (EMG) based prosthetics and emerging alternatives often face…
Fully wearable hand rehabilitation and assistive devices could extend training and improve quality of life for patients affected by hand impairments. However, such devices must deliver meaningful manipulation capabilities in a small and…
Intuitively, prostheses with user-controllable stiffness could mimic the intrinsic behavior of the human musculoskeletal system, promoting safe and natural interactions and task adaptability in real-world scenarios. However, prosthetic…
This work proposes a new kinematics of a myoelectric hand prosthesis with a single actuator, allowing to realize the tridigital grip but also the lateral grip. Inspired by tridigital prostheses, which are simpler, more robust and less…
Impedance controllers are popularly used in the field of lower limb prostheses and exoskeleton development. Such controllers assume the joint to be a spring-damper system described by a discrete set of equilibria and impedance parameters.…
The design and evaluation of a robotic prosthesis for a drummer with a transradial amputation is presented. The principal objective of the prosthesis is to simulate the role fingers play in drumming. This primarily includes controlling the…
Movement disorders impact muscle strength and mobility, and despite therapeutic efforts, many people with movement disorders have challenges functioning independently. Soft wearable robots, or exosuits, offer a promising solution for…
Nonlinear control methodologies have successfully realized stable human-like walking on powered prostheses. However, these methods are typically restricted to model independent controllers due to the unknown human dynamics acting on the…
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…
An arm amputation is extremely invalidating since many of our daily tasks require bi-manual and precise control of hand movements. Perfect hand prostheses should therefore offer a natural, intuitive and cognitively simple control over their…
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…