相关论文: Enhancing Voluntary Motion with Modular, Backdriva…
Modeling and control of the human musculoskeletal system is important for understanding human motor functions, developing embodied intelligence, and optimizing human-robot interaction systems. However, current human musculoskeletal models…
Effective exoskeleton assistance requires co-adaptation: as the device alters joint dynamics, the user reorganizes neuromuscular coordination, creating a non-stationary learning problem. Most learning-based approaches do not explicitly…
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,…
To reproduce natural standing-up motion, recent studies have emphasized the importance of coordination between the assisting robot and the human. However, many non-wearable assistive devices have struggled to replicate natural motion…
This work presents the design and implementation of a wireless, wearable system that combines surface electromyography (sEMG) and inertial measurement units (IMUs) to analyze a single lower-limb functional task: the free bodyweight squat in…
Developing exoskeletons that can reduce the metabolic cost of assisted subjects is challenging since a systematic design approach is required to capture the effects of device dynamics and the assistance torques on human performance. Design…
Current upper limb prostheses aim to enhance user independence in daily activities by incorporating basic motor functions. However, they fall short of replicating the natural movement and interaction capabilities of the human arm. In…
The human shoulder, with its glenohumeral joint, tendons, ligaments, and muscles, allows for the execution of complex tasks with precision and efficiency. However, current robotic shoulder designs lack the compliance and compactness…
Due to Motor Neurone Diseases, a large population remains disabled worldwide, negatively impacting their independence and quality of life. This typically involves a weakness in the hand and forearm muscles, making it difficult to perform…
Human Activity Recognition (HAR) is a crucial technology for many applications such as smart homes, surveillance, human assistance and health care. This technology utilises pattern recognition and can contribute to the development of…
This paper makes two scientific contributions to the field of exoskeleton-based action and movement recognition. First, it presents a novel machine learning and pattern recognition-based framework that can detect a wide range of actions and…
Musculoskeletal modeling and simulations enable the accurate description and analysis of the movement of biological systems with applications such as rehabilitation assessment, prosthesis, and exoskeleton design. However, the widespread…
Common disabilities like stroke and spinal cord injuries may cause loss of motor function in hands. They can be treated with robot assisted rehabilitation techniques, like continuously opening and closing the hand with help of a robot, in a…
Parallel kinematic manipulators (PKM) are characterized by closed kinematic loops, due to the parallel arrangement of limbs but also due to the existence of kinematic loops within the limbs. Moreover, many PKM are built with limbs…
This study presents ME-WARD (Multimodal Ergonomic Workplace Assessment and Risk from Data), a novel system for ergonomic assessment and musculoskeletal risk evaluation that implements the Rapid Upper Limb Assessment (RULA) method. ME-WARD…
Tuning active prostheses for people with amputation is time-consuming and relies on metrics that may not fully reflect user needs. We introduce a human-in-the-loop optimization (HILO) approach that leverages direct user preferences to…
This paper presents advancements in the functionalities of the Recupera-Reha lower extremity exoskeleton robot. The exoskeleton features a series-parallel hybrid design characterized by multiple kinematic loops resulting in 148 degrees of…
Passive shoulder exoskeletons have been widely introduced in the industry to aid upper extremity movements during repetitive overhead work. As an ergonomic intervention, it is important to understand how users adapt to these devices over…
Recent progress in legged locomotion has rendered quadruped manipulators a promising solution for performing tasks that require both mobility and manipulation (loco-manipulation). In the real world, task specifications and/or environment…
In this paper, we present a novel control framework to achieve robust push recovery on bipedal robots while locomoting. The key contribution is the unification of hybrid system models of locomotion with a reduced-order model predictive…