相关论文: Design of Extra Robotic Legs for Augmenting Human …
This paper studies the design, control, and learning of a novel robotic limb that produces overconstrained locomotion by employing the Bennett linkage for motion generation, capable of parametric reconfiguration between a reptile- and…
The heavy-load legged robot has strong load carrying capacity and can adapt to various unstructured terrains. But the large weight results in higher requirements for motion stability and environmental perception ability. In order to utilize…
Wearable robots aim to seamlessly adapt to humans and their environment with personalized interactions. Existing supernumerary robotic limbs (SRLs), which enhance the physical capabilities of humans with additional extremities, have thus…
We present a novel pneumatic augmentation to traditional electric motor-actuated legged robot to increase intermittent power density to perform infrequent explosive hopping behaviors. The pneumatic system is composed of a pneumatic pump, a…
Rehabilitation technology is a natural setting to study the shared learning and decision-making of human and machine agents. In this work, we explore the use of Hierarchical Reinforcement Learning (HRL) to develop adaptive control…
Using lower-limbs exoskeletons provides potential advantages in terms of productivity and safety associated with reduced stress. However, complex issues in human-robot interaction are still open, such as the physiological effects of…
Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control…
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…
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…
A typical application of upper-limb exoskeleton robots is deployment in rehabilitation training, helping patients to regain manipulative abilities. However, as the patient is not always capable of following the robot, safety issues may…
A significant challenge for the control of a robotic lower extremity rehabilitation exoskeleton is to ensure stability and robustness during programmed tasks or motions, which is crucial for the safety of the mobility-impaired user. Due to…
This study presents the design and the kinematic optimization of a novel, underactuated, linkage-based robotic hand exoskeleton to assist users in performing grasping tasks. The device has been designed to apply only normal forces to the…
Healthcare poses diverse logistic requirements, which resulted in the deployment of several distinctly designed robots within a hospital setting. Each robot comes with its overheads in the form of, namely, none/limited scaling, dedicated…
Legged robots have the potential to become vital in maintenance, home support, and exploration scenarios. In order to interact with and manipulate their environments, most legged robots are equipped with a dedicated robot arm, which means…
Metabolic energy consumption of a powered lower-limb exoskeleton user mainly comes from the upper body effort since the lower body is considered to be passive. However, the upper body effort of the users is largely ignored in the literature…
In recent years, the field of legged robotics has seen growing interest in enhancing the capabilities of these robots through the integration of articulated robotic arms. However, achieving successful loco-manipulation, especially involving…
Reinforcement learning (RL) is effective in many robotic applications, but it requires extensive exploration of the state-action space, during which behaviors can be unsafe. This significantly limits its applicability to large robots with…
In recent years, legged and wheeled-legged robots have gained prominence for tasks in environments predominantly created for humans across various domains. One significant challenge faced by many of these robots is their limited capability…
Robotic legs have bimodal operations: swing phases when the leg needs to move quickly in the air (high-speed, low-force) and stance phases when the leg bears the weight of the system (low-speed, high-force). Sizing a traditional…
To support humanoid robots in performing manipulation tasks, it is essential to study stable standing while accommodating upper-body motions. However, the limited controllable range of humanoid robots in a standing position affects the…