相关论文: A Test Bench For Evaluating Exoskeletons For Upper…
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…
The absence of functional arm joints, such as the wrist, in upper extremity prostheses leads to compensatory motions in the users' daily activities. Compensatory motions have been previously studied for varying task protocols and evaluation…
A sensitivity-based approach for computing over-approximations of reachable sets, in the presence of constant parameter uncertainties and a single initial state, is used to analyze a three-link planar robot modeling a Powered Lower Limb…
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…
Automated assessment of human motion plays a vital role in rehabilitation, enabling objective evaluation of patient performance and progress. Unlike general human activity recognition, rehabilitation motion assessment focuses on analyzing…
Wearable robotic systems are a class of robots that have a tight coupling between human and robot movements. Similar to non-wearable robots, it is important to measure the trust a person has that the robot can support achieving the desired…
Wearable exoskeletons can augment human strength and reduce muscle fatigue during specific tasks. However, developing personalized and task-generalizable assistance algorithms remains a critical challenge. To address this, a meta-imitation…
This study proposes the realization of various virtual environments using a lower limb exoskeletal robot for futuristic gait rehabilitation. The proposed method allows the user to feel virtual gravity, buoyancy, and drag while actively…
Developing feasible body trajectories for legged systems on arbitrary terrains is a challenging task. In this paper, we present a paradigm that allows to design feasible Center of Mass (CoM) and body trajectories in an efficient manner. In…
Exoskeletons for rehabilitation can help enhance motor recovery in individuals suffering from neurological disorders. Precision in movement execution, especially in arm rehabilitation, is crucial to prevent maladaptive plasticity. However,…
Biomechanical biofeedback may enhance rehabilitation and provide clinicians with more objective task evaluation. These feedbacks often rely on expensive motion capture systems, which restricts their widespread use, leading to the…
Utilizing orthoses and exoskeleton technology in various applications and medical industries, particularly to help elderly and ordinary people in their daily activities is a new growing field for research institutes. In this paper, after…
Hand exoskeletons are critical tools for dexterous teleoperation and immersive manipulation interfaces, but achieving accurate hand tracking remains a challenge due to user-specific anatomical variability and donning inconsistencies. These…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
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…
Accurate lower-limb joint kinematic estimation is critical for applications such as patient monitoring, rehabilitation, and exoskeleton control. While previous studies have employed wearable sensor-based deep learning (DL) models for…
We present the design of a new robotic human augmentation system that will assist the operator in carrying a heavy payload, reaching and maintaining difficult postures, and ultimately better performing their job. The Extra Robotic Legs…
Exoskeletons and rehabilitation systems have the potential to improve human strength and recovery by using adaptive human-machine interfaces. Achieving precise and responsive control in these systems depends on accurately estimating joint…
Accurate force/torque estimation is essential for applications such as powered exoskeletons, robotics, and rehabilitation. However, force/torque estimation under dynamic conditions is a challenging due to changing joint angles, force…
The paper presents the methodology used for accuracy and repeatability measurements of the experimental model of a parallel robot developed for surgical applications. The experimental setup uses a motion tracking system (for accuracy) and a…