Soft robotics
Aug 19, 2020
Pneumatically driven soft robotic grippers have been extensively studied in recent years. A majority of the grippers, especially those entirely composed of soft materials, can adapt to and handle various objects. However, there are limited studies re...
Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine
Aug 11, 2020
This research introduces a new exoskeleton-type rehabilitation robot, which can be used in lower limb rehabilitation therapy for post-stroke patients. A novel design of a typical knee and ankle rehabilitation robot is proposed. The kinematic and dyna...
Sensors (Basel, Switzerland)
Aug 4, 2020
Walking on different terrains leads to different biomechanics, which motivates the development of exoskeletons for assisting on walking according to the type of a terrain. The design of a lightweight soft exoskeleton that simultaneously assists multi...
Sensors (Basel, Switzerland)
Jul 29, 2020
The precise application of tightening torque is one of the important measures to ensure accurate bolt connection and improvement in product assembly quality. Currently, due to the limited assembly space and efficiency, a wrench without the function o...
Bioinspiration & biomimetics
Jul 29, 2020
Gram-scale insects, such as cockroaches, take advantage of the mechanical properties of the musculoskeletal system to enable rapid and robust running. Engineering gram-scale robots, much like their biological counterparts, comes with inherent constra...
Bioinspiration & biomimetics
Jul 29, 2020
Ideally, robots may be designed to adapt to different tasks such as heavy lifting and handling delicate objects, in which the requirements in force compliance and position accuracy vary dramatically. While conventional rigid actuators are usually cha...
Sensors (Basel, Switzerland)
May 18, 2020
In physical Human-Robot Interaction (pHRI), forces exerted by humans need to be estimated to accommodate robot commands to human constraints, preferences, and needs. This paper presents a method for the estimation of the interaction forces between a ...
IEEE transactions on haptics
Feb 3, 2020
In this article, we describe two techniques to enable haptic-guided teleoperation using 7-DoF cobot arms as master and slave devices. A shortcoming of using cobots as master-slave systems is the lack of force feedback at the master side. However, rec...
IEEE transactions on haptics
Jan 31, 2020
The design and control of a new series-viscous-elastic joint are presented. The proposed joint consists of 3D printed parts compressing nonlinear elastic silicone springs. The use of silicone springs is the main novelty of the system; they exhibit in...
IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
Nov 25, 2019
This study aimed to investigate: 1) the effect of optic flow speed manipulation on active participation during robot-assisted treadmill walking (RATW), 2) the influence of the type of virtual environment, and 3) the level of motion sickness and enjoy...