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...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jun 1, 2019
Robot-assisted rehabilitation in children and young adults with Cerebral Palsy (CP) is expected to lead to neuroplasticity and reduce the burden of motor impairments. For a lower-limb exoskeleton to perform well in this context, it is essential that ...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jun 1, 2019
Exoskeletons are human-robot interfaces that have enormous potential to assist people with everyday tasks. To improve the design of exoskeletons for use in clinical populations, it is important to further our understanding of how exoskeleton design a...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jun 1, 2019
To be successful, hand exoskeletons require customisable low encumbrance design with multi-compliant materials. This paper details the modification and testing of a fused filament fabrication printer to produce three categories of multi-compliant mat...
IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
Jun 1, 2019
The research and development of wearable robotic devices has been accelerated by off-board control and actuation systems. While off-board robotic actuation systems provide many benefits, the impedance at the robotic joint is often high. High joint im...
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