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With the increasing use of assistive robots in rehabilitation and assisted mobility of human patients, there has been a need for a deeper understanding of human-robot interactions particularly through simulations, allowing an understanding…
The objective of this paper is to develop and evaluate a directional vibrotactile feedback interface as a guidance tool for postural adjustments during work. In contrast to the existing active and wearable systems such as exoskeletons, we…
Exoskeleton devices impose kinematic constraints on a user's motion and affect their stability due to added mass but also due to the simplified mechanical design. This paper investigates how these constraints resulting from simplified…
Robotic rehabilitation can deliver high-dose gait therapy and improve motor function after a stroke. However, for many devices, high costs and lengthy setup times limit clinical adoption. Thus, we designed, built, and evaluated the Passive…
This study introduces a robust planning framework that utilizes a model predictive control (MPC) approach, enhanced by incorporating signal temporal logic (STL) specifications. This marks the first-ever study to apply STL-guided trajectory…
The use of vibrotactile feedback is of growing interest in the field of prosthetics, but few devices fully integrate this technology in the prosthesis to transmit high-frequency contact information (such as surface roughness and first…
Due to the redundancy of our motor system, movements can be performed in many ways. While multiple motor control strategies can all lead to the desired behavior, they result in different joint and muscle forces. This creates opportunities…
Assistive ankle-foot orthoses (AAFOs) are powerful solutions to assist or rehabilitate gait on humans. Existing AAFO technologies include passive, quasi-passive, and active principles to provide assistance to the users, and their mechanical…
Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…
Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failure, especially in real-world environments with unexpected…
We present a highly reactive controller which enables bipedal robots to blindly walk over various kinds of uneven terrains while resisting pushes. The high level motion planner does fast online optimization for footstep locations and Center…
Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…
This paper presents a neural network (NN) based adaptive feedback regulator to ensure the lateral and longitudinal stability and regulate the desired walking velocity of a lower-limb exoskeleton under model uncertainty. The traditional…
Real-time constraint satisfaction for robots can be quite challenging due to the high computational complexity that arises when accounting for the system dynamics and environmental interactions, often requiring simplification in modelling…
Individuals with spinal cord injury (SCI) and stroke who is lack of manipulation capability have a particular need for robotic hand exoskeletons. Among assistive and rehabilitative medical exoskeletons, there exists a sharp trade-off…
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…
Our research investigates vibrotactile perception in four prosthetic hands with distinct kinematics and mechanical characteristics. We found that rigid and simple socket-based prosthetic devices can transmit tactile information and…
Wearable exosuits assist human movement in tasks ranging from rehabilitation to daily activities; specifically, head-neck support is necessary for patients with certain neurological disorders. Rigid-link exoskeletons have shown to enable…
Adaptive morphogenetic robots adapt their morphology and control policies to meet changing tasks and environmental conditions. Many such systems leverage soft components, which enable shape morphing but also introduce simulation and control…
Fully wearable hand rehabilitation and assistive devices could extend training and improve quality of life for patients affected by hand impairments. However, such devices must deliver meaningful manipulation capabilities in a small and…