相关论文: A Two Degrees-of-Freedom Floor-Based Robot for Tra…
Sit-to-Stand (StS) is a fundamental daily activity that can be challenging for stroke survivors due to strength, motor control, and proprioception deficits in their lower limbs. Existing therapies involve repetitive StS exercises, but these…
Patient transfer devices allow to move patients passively in hospitals and care centers. Instead of hoisting the patient, it would be beneficial in some cases to assist their movement, enabling them to move by themselves. However, patient…
Body weight support (BWS) is a fundamental technique in rehabilitation. Along with the dramatic progressing of rehabilitation science and engineering, BWS is quickly evolving with new initiatives and has attracted deep research effort in…
The sit-to-stand movement is a key feature for wide adoption of powered lower limb orthoses for patients with complete paraplegia. In this paper we study the control of the ascending phase of the sit-to-stand movement for a minimally…
Physical therapy (PT) is a key component of many rehabilitation regimens, such as treatments for Parkinson's disease (PD). However, there are shortages of physical therapists and adherence to self-guided PT is low. Robots have the potential…
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…
Soft robots could bring robotic systems to new horizons, by enabling safe human-machine interaction. For precise control, these soft structures require high level position feedback that is not easily achieved through conventional…
Standing-up control is crucial for humanoid robots, with the potential for integration into current locomotion and loco-manipulation systems, such as fall recovery. Existing approaches are either limited to simulations that overlook…
The upper limb robotic exoskeleton is an electromechanical device which use to recover a patients motor dysfunction in the rehabilitation field. It can provide repetitive, comprehensive, focused, positive, and precise training to regain the…
We studied the performance of a robotic orthosis designed to assist the paretic hand after stroke. It is wearable and fully user-controlled, serving two possible roles: as a therapeutic tool that facilitates device mediated hand exercises…
To reproduce natural standing-up motion, recent studies have emphasized the importance of coordination between the assisting robot and the human. However, many non-wearable assistive devices have struggled to replicate natural motion…
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…
Stationary robotic trainers are lower limb rehab robots which often incorporate an exoskeleton attached to a stationary base. The issue observed in the stationery trainers for simultaneous knee and ankle-foot complex joints is that they…
This paper presents a standing support mobility robot "Moby" developed to enhance independence and safety for elderly individuals during daily activities such as toilet transfers. Unlike conventional seated mobility aids, the robot…
Quadruped robots are employed in various scenarios in building construction. However, autonomous stair climbing across different indoor staircases remains a major challenge for robot dogs to complete building construction tasks. In this…
State-of-the-art reinforcement learning is now able to learn versatile locomotion, balancing and push-recovery capabilities for bipedal robots in simulation. Yet, the reality gap has mostly been overlooked and the simulated results hardly…
This paper presents a study on the use of the Talos humanoid robot for performing assistive sit-to-stand or stand-to-sit tasks. In such tasks, the human exerts a large amount of force (100--200 N) within a very short time (2--8 s), posing…
Despite recent advances in robust locomotion, bipedal robots operating in the real world remain at risk of falling. While most research focuses on preventing such events, we instead concentrate on the phenomenon of falling itself.…
There is a growing need to deliver rehabilitation care to patients remotely. Long term demographic changes, geographic shortages of care providers, and now a global pandemic contribute to this need. Telepresence provides an option for…
Postural stability during movement is fundamental to independent living, fall prevention, and overall health, particularly among older adults who experience age-related declines in balance, muscle strength, and mobility. Among daily…