相关论文: Modeling and parametric optimization of 3D tendon-…
ADROIT Manipulation platform is a pneumatically actuated, tendon driven 28 degree of freedom platform being developed for investigating complex hand manipulation behaviors. ADROIT derives its unique capabilities, necessary to support…
This paper considers the optimal control problem of an extended spring-loaded inverted pendulum (SLIP) model with two additional actuators for active leg length and hip torque modulation. These additional features arise naturally in…
This paper presents a systematic topology optimization framework for designing a soft pneumatic gripper (SPG), explicitly considering the design-dependent nature of the actuating load. The load is modeled using Darcy's law with an added…
We introduce a new isometric strain model for the study of the dynamics of cloth garments in a moderate stress environment, such as robotic manipulation in the neighborhood of humans. This model treats textiles as surfaces which are…
Pneumatic soft everting robotic structures have the potential to facilitate human transfer tasks due to their ability to grow underneath humans without sliding friction and their utility as a flexible sling when deflated. Tubular structures…
This paper exposes a control architecture enabling rehabilitation of walking impaired patients with the lower-limb exoskeleton Atalante. Atalante's control system is modified to allow the patient to contribute to the walking motion through…
This paper presents an active stabilization method for a fully actuated lower-limb exoskeleton. The method was tested on the exoskeleton ATALANTE, which was designed and built by the French start-up company Wandercraft. The main objective…
Many researchers have identified robotics as a potential solution to the aging population faced by many developed and developing countries. If so, how should we address the cognitive acceptance and ambient control of elderly assistive…
Application of soft and compliant joints in grasping mechanisms received an increasing attention during recent years. This article suggests the design and development of a novel bio-inspired compliant finger which is composed of a 3D…
Tendon-driven aerial continuum manipulators (TD-ACMs) combine the maneuverability of uncrewed aerial vehicles (UAVs) with the compliance of lightweight continuum robots (CRs). Existing coupled dynamic modeling approaches for TD-ACMs incur…
Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and variables, from mechanical hardware and geometry choices to…
Molecular-motor generated active stresses drive the cytoskeleton away from equilibrium, endowing it with tunable mechanical properties that are essential for diverse functions such as cell division and motility[1-5]. Designing analogous…
The next generation of etextiles foresees an era of smart wearable garments where embedded seamless intelligence provides the ability to sense, process and perform. Core to this vision is embedded textile functionality enabling dynamic…
Topology optimization is a powerful tool utilized in various fields for structural design. However, its application has primarily been restricted to static or passively moving objects, mainly focusing on hard materials with limited…
Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…
Virtual models of human gait, or digital twins, offer a promising solution for studying mobility without the need for labor-intensive data collection. However, challenges such as the sim-to-real gap and limited adaptability to diverse…
In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has…
We propose a dual-cable method of stabilizing the thumb in the context of a hand orthosis designed for individuals with upper extremity hemiparesis after stroke. This cable network adds opposition/reposition capabilities to the thumb, and…
Skeletal muscle-based biohybrid actuators have proved to be a promising component in soft robotics, offering efficient movement. However, their intrinsic biological variability and nonlinearity pose significant challenges for…
Nonsurgical treatment of Dropped Head Syndrome (DHS) incurs the use of collar-type orthoses that immobilize the neck and cause discomfort and sores under the chin. Articulated orthoses have the potential to support the head posture while…