相关论文: Environment-based Assistance Modulation for a Hip …
Compact quadrupedal robots are proving increasingly suitable for deployment in real-world scenarios. Their smaller size fosters easy integration into human environments. Nevertheless, real-time locomotion on uneven terrains remains…
Purpose: Navigating urban environments poses significant challenges for individuals who are blind or have low vision, especially in areas affected by construction. Construction zones introduce hazards such as uneven surfaces, barriers,…
This paper presents a novel multimodal perception system for a real open environment. The proposed system includes an embedded computation platform, cameras, ultrasonic sensors, GPS, and IMU devices. Unlike the traditional frameworks, our…
This paper presents the design and implementation of an AI vision-controlled orthotic hand exoskeleton to enhance rehabilitation and assistive functionality for individuals with hand mobility impairments. The system leverages a Google Coral…
Gait adaptation is an important part of gait analysis and its neuronal origin and dynamics has been studied extensively. In neurorehabilitation, it is important as it perturbs neuronal dynamics and allows patients to restore some of their…
Human-robot walking with prosthetic legs and exoskeletons, especially over complex terrains such as stairs, remains a significant challenge. Egocentric vision has the unique potential to detect the walking environment prior to physical…
Accurate detection of locomotion transitions, such as walk to sit, walk to stair ascent, and descent, is crucial to effectively control robotic assistive devices, such as lower-limb exoskeletons, as each locomotion mode requires specific…
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…
Powered hip exoskeletons have shown the ability for locomotion assistance during treadmill walking. However, providing suitable assistance in real-world walking scenarios which involve changing terrain remains challenging. Recent research…
Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing. The former enables the robot to ascertain human body pose…
This survey paper concerns Sensor Fusion for Predictive Control of Human-Prosthesis-Environment Dynamics in Assistive Walking. The powered lower limb prosthesis can imitate the human limb motion and help amputees to recover the walking…
Self-balancing exoskeletons offer a promising mobility solution for individuals with lower-limb disabilities. For reliable long-term operation, these exoskeletons require a perception system that is effective in changing environments. In…
Preserving and encouraging mobility in the elderly and adults with chronic conditions is of paramount importance. However, existing walking aids are either inadequate to provide sufficient support to users' stability or too bulky and poorly…
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…
Visually impaired individuals rely heavily on accurate and timely information about obstacles and their surrounding environments to achieve independent living. In recent years, significant progress has been made in the development of…
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…
Back-support exoskeletons are commonly used in the workplace to reduce low back pain risk for workers performing demanding activities. However, for the assistance of tasks differing from lifting, back-support exoskeletons potential has not…
In this paper, we introduce HEADS-UP, the first egocentric dataset collected from head-mounted cameras, designed specifically for trajectory prediction in blind assistance systems. With the growing population of blind and visually impaired…
Assistive exoskeletons have shown great potential in enhancing mobility for individuals with motor impairments, yet their effectiveness relies on precise parameter tuning for personalized assistance. In this study, we investigate the…
Wearable assistive devices are increasingly becoming softer. Modelling their interface with human tissue is necessary to capture transmission of dynamic assistance. However, their nonlinear and compliant nature makes both physical modeling…