相关论文: Towards Variable Assistance for Lower Body Exoskel…
Real-time constraint satisfaction for robots can be quite challenging due to the high computational complexity that arises when accounting for the system dynamics and environmental interactions, often requiring simplification in modelling…
This paper presents a switched model reference admittance control framework to achieve safe and compliant human-robot collaboration through reference trajectory shaping. The proposed method generates variable admittance parameters according…
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…
In recent years, the research of rehabilitation robot technology has become a hotspot in the field of rehabilitation medicine engineering and robotics. To assist active rehabilitation in patients with unilateral lower extremity injury, we…
Wearable exosuits assist human movement in tasks ranging from rehabilitation to daily activities; specifically, head-neck support is necessary for patients with certain neurological disorders. Rigid-link exoskeletons have shown to enable…
The complexity of a legged robot's environment or task can inform how specialised its gait must be to ensure success. Evolving specialised robotic gaits demands many evaluations - acceptable for computer simulations, but not for physical…
Developing exoskeletons that can reduce the metabolic cost of assisted subjects is challenging since a systematic design approach is required to capture the effects of device dynamics and the assistance torques on human performance. Design…
Self-balancing exoskeletons are a key enabling technology for individuals with mobility impairments. While the current challenges focus on human-compliant hardware and control, unlocking their use for daily activities requires a scene…
This study introduces a novel approach for deriving the governing equations of the musculoskeletal system in the human body. The proposed formalism offers a framework to effectively incorporate the kinematic characteristics of biological…
A low-cost 1-DOF hand exoskeleton for neuromuscular rehabilitation has been designed and assembled. It consists of a base equipped with a servo motor, an index finger part, and a thumb part, connected through three gears. The index part has…
In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…
Without finger function, people with C5-7 spinal cord injury (SCI) regularly utilize wrist extension to passively close the fingers and thumb together for grasping. Wearable assistive grasping devices often focus on this familiar…
Most current hand exoskeletons have been designed specifically for rehabilitation, assistive or haptic applications to simplify the design requirements. Clinical studies on post-stroke rehabilitation have shown that adapting assistive or…
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…
Passive shoulder exoskeletons have been widely introduced in the industry to aid upper extremity movements during repetitive overhead work. As an ergonomic intervention, it is important to understand how users adapt to these devices over…
This research aims to examine the effects of various vibrotactile feedback techniques on gait (i.e., walking patterns) in virtual reality (VR). Prior studies have demonstrated that gait disturbances in VR users are significant usability…
Conjoined collaborative robots, functioning as supernumerary robotic bodies (SRBs), can enhance human load tolerance abilities. However, in tasks involving physical interaction with humans, users may still adopt awkward, non-ergonomic…
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…
Wearable devices like exoskeletons are designed to reduce excessive loads on specific joints of the body. Specifically, single- or two-degrees-of-freedom (DOF) upper-body industrial exoskeletons typically focus on compensating for the…
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…