相关论文: An Open-Source Modular Treadmill for Dynamic Force…
Background: Upper-limb weakness and tremor (4--12 Hz) limit activities of daily living (ADL) and reduce adherence to home rehabilitation. Objective: To assess technical feasibility and clinician-relevant signals of a sensor-fused wearable…
This paper analyses the dynamic response of a robot when subject to an external force that is applied to its Center of Mass (CoM). The Ratio of Transmission of Motion (RoToM) is proposed as a novel indicator of what part of the applied…
Automatically configuring a robotic prosthesis to fit its user's needs and physical conditions is a great technical challenge and a roadblock to the adoption of the technology. Previously, we have successfully developed reinforcement…
Legged locomotion on deformable terrain is a challenging and open robo-physics problem since the uncertainty in terrain dynamics introduced by ground deformation complicates the dynamical modelling and control methods. Moreover, learning…
Treadmill walking is a convenient tool for studying the human gait; however, a common gait parameter, stride length, can be difficult to calculate directly because relevant reference points continually move backwards. Although there is no…
Animals can finely modulate their leg stiffness to interact with complex terrains and absorb sudden shocks. In feats like leaping and sprinting, animals demonstrate a sophisticated interplay of opposing muscle pairs that actively modulate…
Accurate ground reaction force (GRF) estimation can significantly improve the adaptability of legged robots in various real-world applications. For instance, with estimated GRF and contact kinematics, the locomotion control and planning…
Wide-area data and algorithms in large power systems are creating new opportunities for implementation of measurement-based dynamic load modeling techniques. These techniques improve the accuracy of dynamic load models, which are an…
Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…
Replicating the remarkable athleticism seen in animals has long been a challenge in robotics control. Although Reinforcement Learning (RL) has demonstrated significant progress in dynamic legged locomotion control, the substantial…
Bipedal walking is one of the most important hallmarks of human that robots have been trying to mimic for many decades. Although previous control methodologies have achieved robot walking on some terrains, there is a need for a framework…
This paper presents a novel method for smaller-sized humanoid robots to self-calibrate their foot force sensors. The method consists of two steps: 1. The robot is commanded to move along planned whole-body trajectories in different double…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
In this paper, we present a novel control architecture for the online adaptation of bipedal locomotion on inclined obstacles. In particular, we introduce a novel, cost-effective, and versatile foot sensor to detect the proximity of the…
Tactile sensing can enable robots to perform complex, contact-rich tasks. Magnetic sensors offer accurate three-axis force measurements while using affordable materials. Calibrating such a sensor involves either manual data collection, or…
Effective force modulation during tissue manipulation is important for ensuring safe robot-assisted minimally invasive surgery (RMIS). Strict requirements for in-vivo distal force sensing have led to prior sensor designs that trade off ease…
Ground reaction forces (GRFs) provide fundamental insight into human gait mechanics and are widely used to assess joint loading, limb symmetry, balance control, and motor function. Despite their clinical relevance, the use of GRF remains…
Wearable sensor-based human gait analysis holds great promise in healthcare, rehabilitation, clinical diagnosis and monitoring, and sports activities. Specifically, ground reaction force (GRF) provides essential insights into the body's…
Step adjustment for humanoid robots has been shown to improve robustness in gaits. However, step duration adaptation is often neglected in control strategies. In this paper, we propose an approach that combines both step location and timing…
The ability of bipedal robots to adapt to diverse and unstructured terrain conditions is crucial for their deployment in real-world environments. To this end, we present a novel, bio-inspired robot foot design with stabilizing tarsal…