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Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
Jul 1, 2019
The paper presents a novel clutched variable parallel elastic actuator (CVPEA) mainly consisting of a motor and a flat spiral spring in parallel to actuate the hip of lower limb exoskeletons in sagittal plane. To minimize the power and torque require...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jun 1, 2019
Robot assisted gait retraining is an increasingly common method for supporting restoration of walking function after neurological injury. Gait speed, an indicator of walking function, is correlated with propulsive force, a measure modulated by the po...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jun 1, 2019
Drawing inspiration from autonomous vehicles, using future environment information could improve the control of wearable biomechatronic devices for assisting human locomotion. To the authors knowledge, this research represents the first documented in...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jun 1, 2019
Several research groups have developed and studied powered ankle exoskeletons to improve energetics of healthy subjects and the mobility of elderly subjects, or to reduce asymmetry in gaits induced by strokes. To achieve optimal effect, the timing of...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jun 1, 2019
In this paper, we address the problem of assist-as-needed (AAN) control of rehabilitation robots. The objective is to develop a path tracking control scheme with the minimized intervention of the robot to gain active participation of impaired subject...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jun 1, 2019
This paper introduces an adaptive integral sliding mode controller for exoskeletons. The controller design is based on the hypothesis that only classical properties are known such as parameters' bounds, and all other functions are unknown. To ensure ...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jun 1, 2019
Proprioceptive deficits are common among stroke survivors and are associated with slower motor recovery, poorer upper limb motor function, and decreased self-care ability. Somatosensory feedback augmenting proprioception should enhance motor control ...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jun 1, 2019
In this paper, we present our research study concerning the design and development of an exoskeleton that aims to provide 3D walking support with minimum number of actuators. Following a prior simulation study, the joint configuration was primarily d...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jun 1, 2019
This paper presents a framework to address three dimensional (3-D) dynamic walking for a bipedal exoskeleton with underactuated legs. To achieve this goal, the framework is constructed via a trajectory generator and an optimized inverse kinematics al...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jun 1, 2019
Despite the growing interest, the adoption of industrial exoskeletons may still be held back by technical limitations. To enhance versatility and promote adoption, one aspect of interest could be represented by the potential of active and quasi-passi...