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Force reference extraction via human interaction for a robotic polishing task: Force-induced motion
In this paper, a method to control a manipulator using force-induced trajectory is proposed. The trajectory is learned from an operator doing the polishing task using a tool attached to the robot's end-effector. The learning ...
Design and development of a durable series elastic actuator with an optimized spring topology
(Sage, 2021-12)
This paper aims to present the integrated design, development, and testing procedures for a state-of-the-art torsion-based series elastic actuator that could be reliably employed for long-term use in force-controlled robot ...
Agile and stable running locomotion control for an untethered and one-legged hopping robot
(Springer, 2021-09)
This paper is aimed at presenting a locomotion control framework to realize agile and robust locomotion behaviors on conventional stiff-by-nature legged robots. First, a trajectory generator that is capable of characterizing ...
A custom brace design to connect a user limb to an exoskeleton link with minimal discomfort
(IEEE, 2021)
Exoskeletons are increasingly helping people with different applications. Regardless of what they were built for, exoskeletons have a common discomfort problem from the misalignment of robot and human joints. In this paper, ...
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 ...
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 ...
Towards crutch-free 3-D walking support with the lower body exoskeleton Co-Ex: Self-balancing squatting experiments
(Springer, 2022)
In this paper, we succinctly present the hardware properties and capabilities of the lower body exoskeleton Co-Ex, which was developed to attain self-balancing and crutch-free walking support for those experiencing ambulatory ...
Design and control of a novel variable stiffness series elastic actuator
(IEEE, 2023-06)
This article expounds the design and control of a new variable stiffness series elastic actuator (VSSEA). It is established by employing a modular mechanical design approach that allows us to effectively optimize the ...
Transdisciplinarity as a learning challenge: Student experiences and outcomes in an innovative course on wearable and collaborative robotics
Contribution: This study provides evidence for the
benefit of short online courses for transdisciplinary competence
development of graduate students. It shows the significant challenges students face while learning, and ...
Centroidal momentum observer: Towards whole-body robust control of legged robots subject to uncertainties
(IEEE, 2022)
This paper aims to provide robust dynamic motion control and eliminate parameter uncertainty in single-legged robots with a centroidal momentum-based control algorithm. In order to ensure the continuity of the movement ...
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