相关论文: Sensorless model-based tension control for a cable…
Model-free data-driven computational mechanics replaces phenomenological constitutive functions by numerical simulations based on data sets of representative samples in stress-strain space. The distance of strain and stress pairs from the…
This paper presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work has shown that providing some freedom of movement around a…
The present study focused on the effects of trunk extensor muscles fatigue on postural control during quiet standing under different somatosensory conditions from the foot and the ankle. With this aim, 20 young healthy adults were asked to…
This paper presents a novel six-axis force/torque (F/T) sensor based on inductive sensing technology. Unlike conventional strain gauge-based sensors that require direct contact and external amplification, the proposed sensor utilizes…
This paper presents a new design of CADEL, a cable-driven elbow-assisting device, with light weighting and control improvements. The new device design is appropriate to be more portable and user-oriented solution, presenting additional…
Wearable orthoses can function both as assistive devices, which allow the user to live independently, and as rehabilitation devices, which allow the user to regain use of an impaired limb. To be fully wearable, such devices must have…
Spinal cord injuries generally result in sensory and mobility impairments, with torso instability being particularly debilitating. Existing torso stabilisers are often rigid and restrictive. We present an early investigation into a…
Assistive Exoskeleton Robots are helping restore functions to people suffering from underlying medical conditions. These robots require precise tuning of hyper-parameters to feel natural to the user. The device hyper-parameters often need…
Muscle activation initiates contractions that drive human movement, and understanding it provides valuable insights for injury prevention and rehabilitation. Yet, sensing muscle activation is barely explored in the rapidly growing mobile…
We describe a single fingertip-mounted sensing system for robot manipulation that provides proximity (pre-touch), contact detection (touch), and force sensing (post-touch). The sensor system consists of optical time-of-flight range…
This paper presents a novel multi-axis force-sensing approach in robotic minimally invasive surgery with no modification to the surgical instrument. Thus, it is adaptable to different surgical instruments. A novel 6-axis optical force…
This paper presents a miniature tension sensor using a photo-reflector, designed for compact tendon-driven grippers and robotic hands. The proposed sensor has a small form factor of 13~mm x 7~mm x 6.5~mm and is capable of measuring tensile…
One of the most widely studied dynamical systems in nonlinear control theory is the levitated ball. Several full-state feedback controllers that ensure asymptotic regulation of the ball position have been reported in the literature.…
This study presents mechatronic design, dynamic modeling, simulations and real-time control experiments of a new movable scaffolding system. The proposed system consists of a 3 degrees-of-freedom movable platform, which can be positioned on…
Objective: This paper presents a force control scheme for brief isotonic holds in an isometrically contracted muscle tissue, with minimal overshoot and settling time to measure its shortening velocity, a key parameter of muscle function.…
Cable transmission enables motors of robotic arm to operate lightweight and low-inertia joints remotely in various environments, but it also creates issues with motion coupling and cable routing that can reduce arm's control precision and…
Many people could benefit from exoskeleton assistance during gait, for either medical or nonmedical purposes. But exoskeletons bring added mass and structure, which in turn require compensating for. In this work, we present a lightweight,…
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…
Task-dependent controllers widely used in exoskeletons track predefined trajectories, which overly constrain the volitional motion of individuals with remnant voluntary mobility. Energy shaping, on the other hand, provides task-invariant…
One of the most elusive goals in myographic prosthesis control is the ability to reliably decode continuous positions simultaneously across multiple degrees-of-freedom. Goal: To demonstrate dexterous, natural, biomimetic finger and wrist…