相关论文: Spine-Inspired Continuum Soft Exoskeleton for Stoo…
Traditional robots have rigid links and structures that limit their ability to interact with the dynamics of their immediate environment. For example, conventional robot manipulators with rigid links can only manipulate objects using…
Soft robotics is attractive for wearable applications that require conformal interactions with the human body. Soft wearable robotic garments hold promise for supplying dynamic compression or massage therapies, such as are applied for…
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…
Robot-assisted therapy can deliver high-dose, task-specific training after neurologic injury, but most systems act primarily at the limb level-engaging the impaired neural circuits only indirectly-which remains a key barrier to truly…
Soft robots exhibit inherent compliance and safety, which makes them particularly suitable for applications requiring direct physical interaction with humans, such as surgical procedures. However, their nonlinear and hysteretic behavior,…
To enable the broad adoption of wearable robotic exoskeletons in medical and industrial settings, it is crucial they can adaptively support large repertoires of movements. We propose a new human-machine interface to simultaneously drive…
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodologies that take full advantage of body compliance. Currently…
Despite recent advances in robust locomotion, bipedal robots operating in the real world remain at risk of falling. While most research focuses on preventing such events, we instead concentrate on the phenomenon of falling itself.…
Bipedal robots adapt to the environment of the modern society due to the similarity of movement to humans, and therefore they are a good partner for humans. However, maintaining the stability of these robots during walking/running motion is…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
In this paper, we present an integrated human-in-the-loop simulation paradigm for the design and evaluation of a lower extremity exoskeleton that is elastically strapped onto human lower limbs. The exoskeleton has 3 rotational DOFs on each…
In human-robot systems, ensuring safety during force control in the presence of both internal and external disturbances is crucial. As a typical loosely coupled floating-base robot system, the supernumerary robotic leg (SRL) system is…
Many people could benefit from exoskeleton assistance during gait, for either medical or nonmedical purposes. But exoskeletons bring added mass and structure, which in turn require compensating for. In this work, we present a lightweight,…
Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus arms, these robots trade rigidity for compliance, accuracy…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…
Advanced machine learning algorithms require platforms that are extremely robust and equipped with rich sensory feedback to handle extensive trial-and-error learning without relying on strong inductive biases. Traditional robotic designs,…
This paper addresses the problem of pushing manipulation with nonholonomic mobile robots. Pushing is a fundamental skill that enables robots to move unwieldy objects that cannot be grasped. We propose a stable pushing method that maintains…
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…
In this work, we provide a simulation framework to perform systematic studies on the effects of spinal joint compliance and actuation on bounding performance of a 16-DOF quadruped spined robot Stoch 2. Fast quadrupedal locomotion with…
In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vision-based control algorithms in the literature that…