相关论文: Adaptive Torque Control of Exoskeletons under Spas…
A significant challenge for the control of a robotic lower extremity rehabilitation exoskeleton is to ensure stability and robustness during programmed tasks or motions, which is crucial for the safety of the mobility-impaired user. Due to…
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,…
Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control…
In this paper, we present an integrated human-in-the-loop simulation paradigm for the design and evaluation of a lower extremity exoskeleton that is elastically strapped onto human lower limbs. The exoskeleton has 3 rotational DOFs on each…
Robotic exoskeletons are exciting technologies for augmenting human mobility. However, designing such a device for seamless integration with the human user and to assist human movement still is a major challenge. This paper aims at…
Partial-assistance exoskeletons hold significant potential for gait rehabilitation by promoting active participation during (re)learning of normative walking patterns. Typically, the control of interaction torques in partial-assistance…
The use of wearable robots has been widely adopted in rehabilitation training for patients with hand motor impairments. However, the uniqueness of patients' muscle loss is often overlooked. Leveraging reinforcement learning and a…
This paper presents design and control innovations of wearable robots that tackle two barriers to widespread adoption of powered exoskeletons, namely restriction of human movement and versatile control of wearable co-robot systems. First,…
Designing generalizable control policies for lower-limb exoskeletons remains fundamentally constrained by exhaustive data collection or iterative optimization procedures, which limit accessibility to clinical populations. To address this…
We present a personal mobility device for lower-body impaired users through a light-weighted exoskeleton on wheels. On its core, a novel passive exoskeleton provides postural transition leveraging natural body postures with support to the…
Powered lower-limb exoskeletons provide assistive torques to coordinate limb motion during walking in individuals with movement disorders. Advances in sensing and actuation have improved the wearability and portability of state-of-the-art…
Automatically configuring a robotic prosthesis to fit its user's needs and physical conditions is a great technical challenge and a roadblock to the adoption of the technology. Previously, we have successfully developed reinforcement…
Lower limb exoskeleton robots hold great potential for rehabilitation, movement assistance, and strength augmentation. Design control to guarantee optimal needed assistance is still a challenge considering the pathological variances between…
This paper presents design principles for comfort-centered wearable robots and their application in a lightweight and backdrivable knee exoskeleton. The mitigation of discomfort is treated as mechanical design and control issues and three…
Powered lower limb exoskeletons are a viable solution for people with a spinal cord injury to regain mobility for their daily activities. However, the commonly employed rigid actuation and pre-programmed trajectories increase the risk of…
Work-Related Musculoskeletal Disorders continue to be a major challenge in industrial environments, leading to reduced workforce participation, increased healthcare costs, and long-term disability. This study introduces a human-sensitive…
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…
Metabolic energy consumption of a powered lower-limb exoskeleton user mainly comes from the upper body effort since the lower body is considered to be passive. However, the upper body effort of the users is largely ignored in the literature…
Age-related mobility decline is frequently accompanied by a redistribution of joint kinetics, where older adults compensate for reduced ankle function by increasing demand on the hip. Paradoxically, this compensatory shift typically…
Data-driven joint-moment predictors offer a scalable alternative to laboratory-based inverse-dynamics pipelines for biomechanics estimation and exoskeleton control. Meanwhile, physics-based reinforcement learning (RL) enables…