相关论文: Design, Implementation and Control of an Underactu…

This paper explores the development of a control and sensor strategy for an industrial wearable wrist exoskeleton by classifying and predicting workers' actions. The study evaluates the correlation between exerted force and effort…

Mobile manipulators for indoor human environments can serve as versatile devices that perform a variety of tasks, yet adoption of this technology has been limited. Reducing size, weight, and cost could facilitate adoption, but risks…

Parallel robots based on Handed Shearing Auxetics (HSAs) can implement complex motions using standard electric motors while maintaining the complete softness of the structure, thanks to specifically designed architected metamaterials.…

This paper presents the development of a new passive assistive handwriting device, which aims to stabilize the motion of people living with movement disorders. Many people living with conditions such as cerebral palsy, stroke, muscular…

This work presents a novel rehabilitation framework designed for a therapist, wearing an inertial measurement unit (IMU) suit, to virtually interact with a lower-limb exoskeleton worn by a patient with motor impairments. This framework aims…

With the rapid development of Rehabilitation Lower Extremity Robotic Exoskeletons (RLEEX) technology, significant advancements have been made in Human-Robot Interaction (HRI) methods. These include traditional physical HRI methods that are…

Occupational exoskeletons promise to alleviate musculoskeletal injuries among industrial workers. Knowledge of the usability of the exoskeleton designs with respect to the user device interaction points, and the problems in design features,…

This paper proposes an adaptive gravity compensation (AGC) control strategy for a cable-driven upper-limb exosuit intended to assist the wearer with lifting tasks. Unlike most model-based control techniques used for this human-robot…

Configurable robots are made up of robotic modules that can be assembled or can configure themselves into multiple robot configurations. In this research plan, a method for upper-body rehabilitation will be discussed in the form of a…

Grounded haptic devices can provide a variety of forces but have limited working volumes. Wearable haptic devices operate over a large volume but are relatively restricted in the types of stimuli they can generate. We propose the concept of…

Low back pain is one of the most common musculoskeletal disorder. To reduce its incidences, some back exoskeletons have been designed and already commercialized. However, there is a gap between the phases of device and testing on subjects.…

Prosthesis users can regain partial limb functionality, however, full natural limb mobility is rarely restored, often resulting in compensatory movements that lead to discomfort, inefficiency, and long-term physical strain. To address this…

Individuals who use myoelectric upper-limb prostheses often rely heavily on vision to complete their daily activities. They thus struggle in situations where vision is overloaded, such as multitasking, or unavailable, such as poor lighting…

A challenging and important problem for tendon-driven multi-fingered robotic hands is to ensure grasping adaptivity while minimizing the number of actuators needed to provide human-like functionality. Inspired by the Pisa/IIT SoftHand, this…

The task of controlling an underactuated robotic finger with a single tendon and a single actuator is difficult. Methods for controlling the class of underactuated systems are available in the literature. However, this particular system…

Lower limb exoskeletons show promise to assist human movement, but their utility is limited by controllers designed for discrete, predefined actions in controlled environments, restricting their real-world applicability. We present an…

Myoelectric prosthetic hands are typically controlled to move between discrete positions and do not provide sensory feedback to the user. In this work, we present and evaluate a closed-loop, continuous myoelectric prosthetic hand…

This project focuses on the design and construction of a prototype mouse based on the Arduino platform, intended for individuals without upper limbs to use computers more effectively. The prototype comprises a microcontroller responsible…

Assistive Exoskeleton Robots are helping restore functions to people suffering from underlying medical conditions. These robots require precise tuning of hyper-parameters to feel natural to the user. The device hyper-parameters often need…

This paper proposes a hierarchical Lyapunov-based adaptive cascade control scheme for a lower-limb exoskeleton with control saturation. The proposed approach is composed by two control levels with cascade structure. At the higher layer of…