AIMC Topic: Torque
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A wearable robotic orthosis with a spring-assist actuator.
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
Aug 1, 2016
This paper introduces a wearable robotic orthosis with spring-assist actuators, which is designed to assist people who have difficulty in walking. The spring-assist actuator consists of an electrical motor and a spring, which are attached to a rotati...
Simulation of fluid environment using a robotic orthosis on human lower extremity for therapeutic purposes.
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
Aug 1, 2016
Rehabilitation under water is a viable physical rehabilitation option, but it has some limitations in terms of adapting to needs of each patient. In addition, its facility requirements are relatively high. Simulating the fluid environment using a rob...
Flexible sliding frame for gait enhancing mechatronic system (GEMS).
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
Aug 1, 2016
This paper presents a novel flexible sliding thigh frame for a gait enhancing mechatronic system. With its two-layered unique structure, the frame is flexible in certain locations and directions, and stiff at certain other locations, so that it can f...
Biomechanics of Step Initiation After Balance Recovery With Implications for Humanoid Robot Locomotion.
Journal of biomechanical engineering
Mar 1, 2016
Balance-recovery stepping is often necessary for both a human and humanoid robot to avoid a fall by taking a single step or multiple steps after an external perturbation. The determination of where to step to come to a complete stop has been studied,...
A cable-driven wrist robotic rehabilitator using a novel torque-field controller for human motion training.
The Review of scientific instruments
Jun 1, 2015
Rehabilitation technologies have great potentials in assisted motion training for stroke patients. Considering that wrist motion plays an important role in arm dexterous manipulation of activities of daily living, this paper focuses on developing a c...
Shifting the balance of human standing: Inter-limb coordination for the control of a robotic balance simulation.
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
Jan 1, 2015
Learning to maintain standing balance in the presence of a paretic limb is an important recovery process for many stroke survivors. In this study, we used a robotic balance simulator to investigate whether manipulating medial-lateral or anterior-post...
Gastrocnemius myoelectric control of a robotic hip exoskeleton.
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
Jan 1, 2015
In this paper we present a novel EMG-based assistive control strategy for lower-limb exoskeletons. An active pelvis orthosis (APO) generates torque profiles for the hip flexion motion assistance, according to the Gastrocnemius Medialis EMG signal. Th...
Double closed-loop cascade control for lower limb exoskeleton with elastic actuation.
Technology and health care : official journal of the European Society for Engineering and Medicine
Jan 1, 2015
Unlike traditional rigid actuators, the significant features of Series Elastic Actuator (SEA) are stable torque control, lower output impedance, impact resistance and energy storage. Recently, SEA has been applied in many exoskeletons. In such applic...
Sharing control between humans and automation using haptic interface: primary and secondary task performance benefits.
Human factors
Jan 1, 2005
This paper describes a paradigm for human/automation control sharing in which the automation acts through a motor coupled to a machine's manual control interface. The manual interface becomes a haptic display, continually informing the human about au...
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