相关论文: Simulating Ankle Torque during Walking Using a new…
The ability of animals to interact with complex dynamics is unmatched in robots. Especially important to the interaction performances is the online adaptation of body dynamics, which can be modeled as an impedance behaviour. However, the…
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…
Muscle activation initiates contractions that drive human movement, and understanding it provides valuable insights for injury prevention and rehabilitation. Yet, sensing muscle activation is barely explored in the rapidly growing mobile…
Wrist exoskeletons play a vital role in rehabilitation and assistive applications, yet conventional actuation mechanisms such as electric motors or pneumatics often introduce undesirable weight, friction, and complexity. This paper presents…
We present a method to simulate movement in interaction with computers, using Model Predictive Control (MPC). The method starts from understanding interaction from an Optimal Feedback Control (OFC) perspective. We assume that users aim to…
The involuntary force fluctuations associated with physiological (as distinct from pathological) tremor are an unavoidable component of human motor control. While the origins of the physiological tremor are known to depend on muscle…
Functional electrical stimulation (FES) has been increasingly integrated with other rehabilitation devices, including robots. FES cycling is one of the common FES applications in rehabilitation, which is performed by stimulating leg muscles…
Loss of mobility or balance resulting from neural trauma is a critical consideration in public health. Robotic exoskeletons hold great potential for rehabilitation and assisted movement, yet optimal assist-as-needed (AAN) control remains…
Balance loss is a significant challenge in lower-limb exoskeleton applications, as it can lead to potential falls, thereby impacting user safety and confidence. We introduce a control framework for omnidirectional recovery step planning by…
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…
Broader access to high-quality movement analysis could greatly benefit movement science and rehabilitation, such as allowing more detailed characterization of movement impairments and responses to interventions, or even enabling early…
Controlling the interaction forces between a human and an exoskeleton is crucial for providing transparency or adjusting assistance or resistance levels. However, it is an open problem to control the interaction forces of lower-limb…
In this work, we introduce a control framework that combines model-based footstep planning with Reinforcement Learning (RL), leveraging desired footstep patterns derived from the Linear Inverted Pendulum (LIP) dynamics. Utilizing the LIP…
This work focuses on the optimization of the training trajectory orientation using a robot as an advanced exercise machine (AEM) and muscle activations as biofeedback. Muscle recruitment patterns depend on trajectory parameters of the AEMs…
Unilateral muscle weakness often leads to asymmetric gait, disrupting interlimb coordination and stance timing. This study presents a reinforcement learning (RL) based musculoskeletal simulation framework to (1) quantify how progressive…
While myoelectric control has recently become a focus of increased research as a possible flexible hands-free input modality, current control approaches are prone to inadvertent false activations in real-world conditions. In this work, a…
Exoskeleton locomotion must be robust while being adaptive to different users with and without payloads. To address these challenges, this work introduces a data-driven predictive control (DDPC) framework to synthesize walking gaits for…
Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our contribution to this field is a textile robotic glove with…
Functional Electrical Stimulation (FES) is a technique to evoke muscle contraction through low-energy electrical signals. FES can animate paralysed limbs. Yet, an open challenge remains on how to apply FES to achieve desired movements. This…
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…