相关论文: From Structural Design to Dynamics Modeling: Contr…
Adaptive recovery from fall incidents are essential skills for the practical deployment of wheeled-legged robots, which uniquely combine the agility of legs with the speed of wheels for rapid recovery. However, traditional methods relying…
Sprawling locomotion in vertebrates, particularly salamanders, demonstrates how body undulation and spinal mobility enhance stability, maneuverability, and adaptability across complex terrains. While prior work has separately explored…
This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails high computational cost and execution time or the development…
We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions…
Fast and modular modeling of multi-legged robots (MLRs) is essential for resilient control, particularly under significant morphological changes caused by mechanical damage. Conventional fixed-structure models, often developed with…
Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional model-based controllers often struggle to achieve desired…
In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…
Existing robotic lower-limb prostheses use autonomous control to address cyclic, locomotive tasks, but they are inadequate to operate the prosthesis for daily activities that are non-cyclic and unpredictable. To address this challenge, this…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
Musculoskeletal robots offer intrinsic compliance and flexibility, providing a promising paradigm for versatile locomotion. However, existing research typically relies on models with fixed muscle physiological parameters. This static…
Wheeled bipedal robots (WBRs) have the capability to execute agile and versatile locomotion tasks. This paper focuses on improving the dynamic performance of WBRs through innovations in both hardware and software development. Inspired by…
Recursive modelling for the kinematics of a 3-PRP planar parallel robot is presented in this paper. Three planar chains connecting to the moving platform of the manipulator are located in a vertical plane. Knowing the motion of the…
In this paper, we propose a novel framework that allows therapists to teach robot-assisted rehabilitation exercises remotely via RGB-D video. Our system encodes demonstrations as 6-DoF body-centric trajectories using Cartesian Dynamic…
To diagnose, plan, and treat musculoskeletal pathologies, understanding and reproducing muscle recruitment for complex movements is essential. With muscle activations for movements often being highly redundant, nonlinear, and time…
This study presents a systematic enumeration of spherical ($SO(3)$) type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point,…
Human-robot shared control, which integrates the advantages of both humans and robots, is an effective approach to facilitate efficient surgical operation. Learning from demonstration (LfD) techniques can be used to automate some of the…
The central nervous system exploits anticipatory (APAs) and compensatory (CPAs) postural adjustments to maintain the balance.The postural adjustments comprising stability of the center of mass (CoM) and the pressure distribution of the body…
The research of a socially assistive robot has a potential to augment and assist physical therapy sessions for patients with neurological and musculoskeletal problems (e.g. stroke). During a physical therapy session, generating personalized…
Accurate alignment of multi-degree-of-freedom rehabilitation robots is essential for safe and effective patient training. This paper proposes a two-stage calibration framework for a self-designed three-degree-of-freedom (3-DOF) ankle…
Back injuries are the most prevalent work-related musculoskeletal disorders and represent a major cause of disability. Although innovations in wearable robots aim to alleviate this hazard, the majority of existing exoskeletons are obtrusive…