Browsing by Subject "Exoskeleton"
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Assessments on the improved modelling for pneumatic artificial muscle actuators
(IEEE, 2015)In this paper, we present an analysis regarding the pneumatic air muscle modelling, with a particular emphasis on the exoskeleton robot control. We propose two calibration approaches for obtaining the model identification ... -
Challenges and solutions for application and wider adoption of wearable robots
(Cambridge University Press, 2021)The science and technology of wearable robots are steadily advancing, and the use of such robots in our everyday life appears to be within reach. Nevertheless, widespread adoption of wearable robots should not be taken for ... -
Design and kinematics of 4- DoF multi-purpose wearable mechanical arm (MUWA) support for enhanced operation stability
(IEEE, 2019)A low-cost motor-less simple wearable mechanical arm support unit is presented as a viable alternative to todays assistive exoskeleton support units. By limiting the functionality of the device to stabilization rather than ... -
Designing redundant cable-driven parallel robots for additive manufacturing using end-effector compliance index
(IEEE, 2023)This paper presents a methodology for optimizing cable anchor points for cable-driven parallel robots (CDPRs) for specific additive manufacturing tasks. Much of a CDPR's workspace is generally not used for printing tasks. ... -
Proof of concept for robot-aided upper limb rehabilitation using disturbance observers
(IEEE, 2015-02)This paper presents a wearable upper body exoskeleton system with a model-based compensation control framework to support robot-aided shoulder-elbow rehabilitation and power assistance tasks. To eliminate the need for EMG ... -
Simulation-based design and locomotion control implementation for a lower body exoskeleton
(IEEE, 2022)This paper proposes a simulation-based design and locomotion control methodology for an exoskeleton that is aimed at providing assistance to users with ambulatory difficulties. To increase the power-to-weight ratio while ...
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