The compliance and deformability of soft robotics allow human-machine interactions in a safe manner without the need of sophisticated control systems inherent in rigid-body robotic devices. However, these advantages introduce controllability and pred...
Advanced materials (Deerfield Beach, Fla.)
Jul 24, 2021
Neuromorphic computing has become an increasingly popular approach for artificial intelligence because it can perform cognitive tasks more efficiently than conventional computers. However, it remains challenging to develop dedicated hardware for arti...
In this research, a redundant cable-driven robust rehabilitation robot has been proposed for helping and automating the proper function of the patient's lower and upper limbs in the presence of uncertainties, disturbances, noise, and time delay using...
The objective of this work is to relate muscle effort distributions to the trajectory and resistance settings of a robotic exercise and rehabilitation machine. Muscular effort distribution, representing the participation of each muscle in the trainin...
Robotic joints are fundamental components in artificial graspers and manipulators, and they are designed to achieve high dexterity to carry out various tasks. Traditional robotic hands are often driven by rigid joints, such as tendons and electric mo...
Passive movement is an important mean of rehabilitation for stroke survivors in the early stage or with greater paralysis. The upper extremity robot is required to assist therapists with passive movement during clinical rehabilitation, while customiz...
This paper shows the design and modeling of an end effector with a bidirectional telescopic mechanism to allow a surgical assistant robot to hold and handle surgical instruments. It also presents a force-free control algorithm for the direct teaching...
Ankle push-off occurs when muscle-tendon units about the ankle joint generate a burst of positive power at the end of stance phase in human walking. Ankle push-off mainly contributes to both leg swing and center of mass (CoM) acceleration. Humans use...
In the field of robotics, sensors are crucial in enabling the interaction between robots and their users. To ensure this interaction, sensors mainly measure the user's strength, and based on this, wearable robots are controlled. In this paper, we pro...
We present an approach for real-time model-free optimization of the orientation of the elliptical trajectory. The performance is evaluated in simulation and experimental stages. Our model-free approach is based on the use of Extremum Seeking Control ...
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