相关论文: Experimental Validation of Light Cable-Driven Elbo…
Exosuits have recently been developed as alternatives to rigid exoskeletons and are increasingly adopted for both upper and lower limb therapy and assistance in clinical and home environments. Many cable-driven exosuits have been developed…
In order to understand the mechanisms involved in the forming step of LCM processes and provide validation date to numerical models, a specific experimental device has been designed in collaboration between PRISME Institute and EADS. The…
In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is unknown in practice, we propose an indirect adaptive…
Aging populations and the rising prevalence of neurological and musculoskeletal disorders increase the demand for wearable mobility assistive devices that are effective, comfortable, and anatomically compatible. Many existing systems use…
The coupling of human movement dynamics with the function and design of wearable assistive devices is vital to better understand the interaction between the two. Advanced neuromuscular models and optimal control formulations provide the…
This study with a T-52 class wheelchair racing athlete aimed to combine quantitative biomechanical measurements to the athlete's perception to design and test different prototypes of a new kind of rigid gloves. Three personalized rigid…
The manipulation of deformable linear flexures has a wide range of applications in industry, such as cable routing in automotive manufacturing and textile production. Cable routing, as a complex multi-stage robot manipulation scenario, is a…
Learning to operate a vehicle is generally accomplished by forming a new cognitive map between the body motions and extrapersonal space. Here, we consider the challenge of remapping movement-to-space representations in survivors of spinal…
Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing…
Human motion analysis is used in many different fields and applications. Currently, existing systems either focus on one single limb or one single class of movements. Many proposed systems are designed to be used in an indoor controlled…
CAFEs (Collaborative Agricultural Floating End-effectors) is a new robot design and control approach to automating large-scale agricultural tasks. Based upon a cable driven robot architecture, by sharing the same roller-driven cable set…
Automation of surgical subtasks using cable-driven robotic surgical assistants (RSAs) such as Intuitive Surgical's da Vinci Research Kit (dVRK) is challenging due to imprecision in control from cable-related effects such as cable stretching…
The last decade's market has been characterized by wearable devices, mainly smartwatches, edge, and cloud computing. A possible application of these technologies is to improve the safety of dangerous activities, especially driving motor…
In this work, we introduce HJ-Pal, a lightweight wearable haptic device that leverages EMG-driven honeycomb jamming to render muscle activation as kinesthetic feedback, enabling remote palpation for small muscle assessment in…
Interband cascade lasers (ICLs) stand out due to their low threshold current and minimal power consumption, rendering them viable sources for compact and mobile devices in the mid-infrared. Since their first demonstration, they experienced…
Robotic sensorimotor extensions (supernumerary limbs, prosthesis, handheld tools) are worn devices used to interact with the nearby environment, whether to assist the capabilities of impaired users or to enhance the dexterity of industrial…
One of the defining characteristic of human being is their ability to walk upright. Loss or restriction of such ability whether due to the accident, spine problem, stroke or other neurological injuries can cause tremendous stress on the…
Passive elastic elements can contribute to stability, energetic efficiency, and impact absorption in both biological and robotic systems. They also add dynamical complexity which makes them more challenging to model and control. The impact…
This work proposes a new kinematics of a myoelectric hand prosthesis with a single actuator, allowing to realize the tridigital grip but also the lateral grip. Inspired by tridigital prostheses, which are simpler, more robust and less…
One of the main causes of long-term prosthetic abandonment is the lack of ownership over the prosthesis, caused mainly by the absence of sensory information regarding the lost limb. One strategy to overcome this problem is to provide…