Safety critical events in robotic applications can often be characterized by forces between the robot end-effector and the environment. One application in which safe interaction between the robot and environment is critical is in the area of medical ...
BACKGROUND: Our group developed a rehabilitation robot to assist with repetitive, active reaching movement of a paretic upper extremity. The robot is equipped with a servo motor-controlled arm-weight support and works in conjunction with neuromuscula...
IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
Apr 27, 2020
Walking can be simplified as an inverted pendulum motion where both legs generate linear impulses to redirect the center of mass (COM) into every step. In this work, we describe a system to assist walking in a simpler way than exoskeletons by providi...
International journal of computer assisted radiology and surgery
Apr 22, 2020
PURPOSE: Surgical simulations play an increasingly important role in surgeon education and developing algorithms that enable robots to perform surgical subtasks. To model anatomy, finite element method (FEM) simulations have been held as the gold sta...
Soft robots have garnered interest for real-world applications because of their intrinsic safety embedded at the material level. These robots use deformable materials capable of shape and behavioral changes and allow conformable physical contact for ...
Neural networks : the official journal of the International Neural Network Society
Apr 21, 2020
Currently, usual approaches for fast robot control are largely reliant on solving online optimal control problems. Such methods are known to be computationally intensive and sensitive to model accuracy. On the other hand, animals plan complex motor a...
Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine
Apr 7, 2020
Hemiplegia is a type of paralysis that affects one side of the body due to stroke, characterizing severe weakness or rigid movement. Many people of different age groups are affected by this condition which cannot be completely cured but can be minimi...
In this paper, methods for scientifically inferring the causes of the falls-from-height accidents, that is, the initial fall postures, and reconstructing the fall accident are presented. For this purpose, the general types of fall were subdivided int...
Bipedal animals have diverse morphologies and advanced locomotion abilities. Terrestrial birds, in particular, display agile, efficient, and robust running motion, in which they exploit the interplay between the body segment masses and moment of iner...
We have previously suggested a biologically-inspired natural dynamic controller for biped locomotion, which applies torque pulses to the different joints at particular phases of an internal phase variable. The parameters of the controller, including ...