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Active compliance control reduces upper body effort in exoskeleton-supported walking
(IEEE, 2020-04)
This article presents a locomotion controller for lower limb exoskeletons so as to enable the combined robot and user system to exhibit compliant walking characteristics when interacting with the environment. This is of ...
Robust locomotion control of a self-balancing and underactuated bipedal exoskeleton: Task prioritization and feedback control
(IEEE, 2021-07)
This letter presents a study to understand how an underactuated bipedal exoskeleton with an arbitrary human user can exhibit robust dynamic walking behavior despite severe parameter uncertainty and external disturbances. ...
Tepki kuvveti gözetleyici tabanlı tork kontrolü
(Gazi Üniversitesi, 2021-12)
In this article, a reaction force observer-based torque controller was designed and experimentally implemented to a non-backdrivable actuator unit. Torque control is of importance when considering physical human-robot ...
Benchmarking torque control strategies for a torsion-based series elastic actuator
(IEEE, 2022-06)
The diversity in torque-controlled actuators has enabled researchers to address numerous physical human-robot interaction applications with enhanced safety, dependability, and interaction capability [1]. Yet, only a few ...
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 ...
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