相关论文: Nonlinearity Compensation in a Multi-DoF Shoulder …
Soft wearable robots are a promising new design paradigm for rehabilitation and active assistance applications. Their compliant nature makes them ideal for complex joints like the shoulder, but intuitive control of these robots require…
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…
We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…
Most traditional robotic mechanisms feature inelastic joints that are unable to robustly handle large deformations and off-axis moments. As a result, the applied loads are transferred rigidly throughout the entire structure. The…
Wearable assistive devices are increasingly becoming softer. Modelling their interface with human tissue is necessary to capture transmission of dynamic assistance. However, their nonlinear and compliant nature makes both physical modeling…
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…
The shoulder is responsible for the movement of the entire upper limb. It is capable of articulating in three degrees-of-freedom (DOF), enabling the arm to perform manipulation actions with incomparable dexterity. Exoskeletons targeting the…
Assistive robotic devices, like soft lower-limb exoskeletons or exosuits, are widely spreading with the promise of helping people in everyday life. To make such systems adaptive to the variety of users wearing them, it is desirable to endow…
Due to their compliant structure, industrial robots without precision-enhancing measures are only to a limited extent suitable for machining applications. Apart from structural, thermal and bearing deformations, the main cause for compliant…
The purpose of this study is to develop a computationally efficient deep learning based control framework for high degree of freedom exoskeleton robots to address the real time computational limitations associated with conventional model…
The upper limb robotic exoskeleton is an electromechanical device which use to recover a patients motor dysfunction in the rehabilitation field. It can provide repetitive, comprehensive, focused, positive, and precise training to regain the…
Precise kinematic modeling is critical in calibration and controller design for soft robots, yet remains a challenging issue due to their highly nonlinear and complex behaviors. To tackle the issue, numerous data-driven machine learning…
The evolution from motion capture and teleoperation to robot skill learning has emerged as a hotspot and critical pathway for advancing embodied intelligence. However, existing systems still face a persistent gap in simultaneously achieving…
Reduced shoulder mobility limits upper-limb function and the performance of activities of daily living across a wide range of conditions. Wearable exosuits have shown promise in assisting arm elevation, reducing muscle effort, and…
Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…
Flexible sensors are increasingly employed in soft robotics and wearable devices to provide proprioception of freeform deformations.Although supervised learning can train shape predictors from sensor signals, prediction accuracy strongly…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…
Soft robots could bring robotic systems to new horizons, by enabling safe human-machine interaction. For precise control, these soft structures require high level position feedback that is not easily achieved through conventional…
Collision detection is essential to virtually all robotics applications. However, traditional geometric collision detection methods generally require pre-existing workspace geometry representations; thus, they are unable to infer the…
Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…