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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 ...
On the EMG-based torque estimation for humans coupled with a force-controlled elbow exoskeleton
(IEEE, 2015)
Exoskeletons are successful at supporting human motion only when the necessary amount of power is provided at the right time. Exoskeleton control based on EMG signals can be utilized to command the required amount of support ...
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. ...
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, ...
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 ...
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