相关论文: Real-time force control of an SEA-based body weigh…
The ability to accomplish a sit-to-stand (STS) motion is key to increase functional mobility and reduce rehospitalization risks. While raising aid (transfer) devices and partial bodyweight support (rehabilitation) devices exist, both are…
Real-world household tasks present significant challenges for mobile manipulation robots. An analysis of existing robotics benchmarks reveals that successful task performance hinges on three key whole-body control capabilities: bimanual…
Elastic actuation taps into elastic elements' energy storage for dynamic motions beyond rigid actuation. While Series Elastic Actuators (SEA) and Variable Stiffness Actuators (VSA) are highly sophisticated, they do not fully provide control…
Brain-Machine Interaction (BMI) system motivates interesting and promising results in forward/feedback control consistent with human intention. It holds great promise for advancements in patient care and applications to neurorehabilitation.…
Physical therapy (PT) is a key component of many rehabilitation regimens, such as treatments for Parkinson's disease (PD). However, there are shortages of physical therapists and adherence to self-guided PT is low. Robots have the potential…
Robotic devices provide a great opportunity to assist in delivering physical therapy and rehabilitation movements, yet current robot-assisted methods struggle to incorporate biomechanical metrics essential for safe and effective therapy. We…
Physical movement therapy is a crucial method of rehabilitation aimed at reinstating mobility among patients facing motor dysfunction due to neurological conditions or accidents. Such therapy is usually featured as patient-specific,…
Whole-body manipulation (WBM) for humanoid robots presents a promising approach for executing embracing tasks involving bulky objects, where traditional grasping relying on end-effectors only remains limited in such scenarios due to…
Reaching disabilities affect the quality of life. Functional Electrical Stimulation (FES) can restore lost motor functions. Yet, there remain challenges in controlling FES to induce desired movements. Neuromechanical models are valuable…
Balance is the fundamental skill behind human locomotion, and its impairment is the principal indicator of self-perceived disability. Despite significant improvements in balance assessment, there is still large incidence of fall related…
This study introduces an innovative design for a Variable Stiffness 3 Degrees of Freedom actuated wrist capable of actively and continuously adjusting its overall stiffness by modulating the active length of non-linear elastic elements.…
Purpose - Skullbase surgery demands exceptional precision when removing bone in the lateral skull base. Robotic assistance can alleviate the effect of human sensory-motor limitations. However, the stiffness and inertia of the robot can…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
The integration of imitation and reinforcement learning has enabled remarkable advances in humanoid whole-body control, facilitating diverse human-like behaviors. However, research on environment-dependent motions remains limited. Existing…
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…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
Among the infinite number of possible movements that can be produced, humans are commonly assumed to choose those that optimize criteria such as minimizing movement time, subject to certain movement constraints like signal-dependent and…
This paper introduces a new generalized control method designed for multi-degrees-of-freedom devices to help people with limited motion capabilities in their daily activities. The challenge lies in finding the most adapted strategy for the…
Moving a human body or a large and bulky object can require the strength of whole arm manipulation (WAM). This type of manipulation places the load on the robot's arms and relies on global properties of the interaction to succeed---rather…
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…