相关论文: Advancements in Upper Body Exoskeleton: Implementi…
Balance loss is a significant challenge in lower-limb exoskeleton applications, as it can lead to potential falls, thereby impacting user safety and confidence. We introduce a control framework for omnidirectional recovery step planning by…
PID control is commonly utilized in an active suspension system to achieve desirable chassis attitude, where, due to delays, feedback information has much difficulty regulating the roll and pitch behavior, and stabilizing the chassis…
In rehabilitation, powered, and teleoperation exoskeletons, connecting the human body to the exoskeleton through binding attachments is a common configuration. However, the uncertainty of the tightness and the donning deviation of the…
Positive biomechanical outcomes have been reported with lower-limb exoskeletons in laboratory settings, but these devices have difficulty delivering appropriate assistance in synchrony with human gait as the task or rate of phase…
Growing demands in the semiconductor industry necessitate increasingly stringent requirements on throughput and positioning accuracy of lithographic equipment. Meeting these demands involves employing highly aggressive motion profiles,…
Developing exoskeleton controllers that generalize across diverse locomotor conditions typically requires extensive motion-capture data and biomechanical labeling, limiting scalability beyond instrumented laboratory settings. Here, we…
Model-based feedforward control improves tracking performance of motion systems, provided that the model describing the inverse dynamics is of sufficient accuracy. Model sets, such as neural networks (NNs) and physics-guided neural networks…
Squatting is one of the most demanding lower-limb movements, requiring substantial muscular effort and coordination. Reducing the physical demands of this task through intelligent and personalized assistance has significant implications,…
State-of-the-art reinforcement learning is now able to learn versatile locomotion, balancing and push-recovery capabilities for bipedal robots in simulation. Yet, the reality gap has mostly been overlooked and the simulated results hardly…
Due to their compliant structure, industrial robots without precision-enhancing measures are only to a limited extent suitable for machining applications. Apart from structural, thermal and bearing deformations, the main cause for compliant…
Electromechanical switching devices such as relays, solenoid valves, and contactors offer several technical and economic advantages that make them widely used in industry. However, uncontrolled operations result in undesirable…
This paper presents a concurrent whole-body control (cWBC) for human-exoskeleton systems that are tightly coupled at a Cartesian level (e.g., feet, hands, torso). The exoskeleton generates joint torques that i) cancel the effects of gravity…
An exoskeleton is a wearable electromechanical structure that is intended to resemble and allow movements in a manner similar to the human skeletal system. They can be used by both disabled and able people alike to increase physical…
Objective: Overhead tasks are a primary inducement to work-related musculoskeletal disorders. Aiming to reduce shoulder physical loads, passive shoulder exoskeletons are increasingly prevalent in the industry due to their lightweight,…
Using lower-limbs exoskeletons provides potential advantages in terms of productivity and safety associated with reduced stress. However, complex issues in human-robot interaction are still open, such as the physiological effects of…
The upper limb robotic exoskeleton is an electromechanical device which use to recover a patients motor dysfunction in the rehabilitation field. It can provide repetitive, comprehensive, focused, positive, and precise training to regain the…
Feedforward steering control is a key component of hierarchical control architectures for autonomous racing. The goal is to reduce steering corrections from the feedback controllers by predicting the vehicle's inverse lateral dynamics. This…
In this paper, a frequency separation based adaptive feedforward control algorithm is developed with the ability to identify the plant and do compensation region by region. In this algorithm, the accelerometer signal is filtered by a series…
The nonlinearities of soft robots bring control challenges like hysteresis but also provide them with computational capacities. This paper introduces a fuzzy pneumatic physical reservoir computing (FPRC) model for feedforward hysteresis…
Rehabilitation robotics continues to confront substantial challenges, particularly in achieving smooth, safe, and intuitive human-robot interactions for upper limb motor training. Many current systems depend on complex mechanical designs,…