相关论文: Exoway: an exoskeleton on actuated wheels
Lower extremity exoskeleton has been developed as a motion assistive technology in recent years. Walking pattern generation is a fundamental topic in the design of these robots. The usual approach with most exoskeletons is to use a…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
Back-support exoskeletons have been proposed to mitigate spinal loading in industrial handling, yet their effectiveness critically depends on timely and context-aware assistance. Most existing approaches rely either on load-estimation…
Age-related mobility decline is frequently accompanied by a redistribution of joint kinetics, where older adults compensate for reduced ankle function by increasing demand on the hip. Paradoxically, this compensatory shift typically…
Many kinds of lower-limb exoskeletons were developed for walking assistance. However, when controlling these exoskeletons, time-delay due to the computation time and the communication delays is still a general problem. In this research, we…
Wheel-legged robots combine the efficiency of wheeled locomotion with the versatility of legged systems, enabling rapid traversal over both continuous and discrete terrains. However, conventional designs typically employ fixed wheels as…
As a single-track mobile platform, bikebot (i.e., bicycle-based robot) has attractive navigation capability to pass through narrow, off-road terrain with high-speed and high-energy efficiency. However, running crossing step-like obstacles…
This paper presents a concurrent whole-body control (cWBC) for human-exoskeleton systems that are tightly coupled at a Cartesian level (e.g., feet, hands, torso). The exoskeleton generates joint torques that i) cancel the effects of gravity…
Soft robots are naturally designed to perform safe interactions with their environment, like locomotion and manipulation. In the literature, there are now many concepts, often bio-inspired, to propose new modes of locomotion or grasping.…
Exploring and navigating in extreme environments, such as caves, oceans, and planetary bodies, are often too hazardous for humans, and as such, robots are possible surrogates. These robots are met with significant locomotion challenges that…
The use of a cable-driven soft exosuit poses challenges with regards to the mechanical design of the actuation system, particularly when used for actuation along multiple degrees of freedom (DoF). The simplest general solution requires the…
Animals achieve robust locomotion by offloading regulation from the brain to physical couplings within the body. In contrast, locomotion in artificial systems often depends on centralized processors. We introduce a rapid and autonomous…
Effective rehabilitation methods are essential for the recovery of lower limb dysfunction caused by stroke. Nowadays, robotic exoskeletons have shown great potentials in rehabilitation. Nevertheless, traditional rigid exoskeletons are…
This systems paper presents the implementation and design of RB5, a wheeled robot for autonomous long-term exploration with fewer and cheaper sensors. Requiring just an RGB-D camera and low-power computing hardware, the system consists of…
This paper introduces FlipWalker, a novel underactuated robot locomotion system inspired by Jacob's Ladder illusion toy, designed to traverse challenging terrains where wheeled robots often struggle. Like the Jacob's Ladder toy, FlipWalker…
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…
This article presents the design, implementation, and performance evaluation of SWheg, a novel modular wheel-leg transformable robot family with minimalist actuator realization. SWheg takes advantage of both wheeled and legged locomotion by…
With rapid advancements in exoskeleton hardware technologies, successful assessment and accurate control remain challenging. This study introduces a modular sensor-based system to enhance biomechanical evaluation and control in lower-limb…
Human walkers traverse diverse environments and demonstrate different gait locomotion and energy cost on granular terrains compared to solid ground. We present a stiffness-based model predictive control approach of knee exoskeleton…
Active matter, exemplified by adaptive living materials such as the actomyosin cytoskeleton, can navigate material parameter space dynamically, leading to unconventional mechanical responses. In particular, it can self-drive toward elastic…