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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 ...
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 ...
Contact force distribution using centroidal momentum feedback for quadruped locomotion
(IEEE, 2023)
This paper proposes a method to distribute contact forces to eliminate undesired torso orientation fluctuations and regulate heading during dynamic quadruped trot-walking motion. The proposed method makes use of centroidal ...
Topology optimization-based design and development of a compact actuator with a high torque-to-weight ratio for quadrupeds
(IEEE, 2022)
This paper presents the design, development, and testing procedures for a compact actuator with a high torque-to-weight ratio, generally aimed to actuate legged robots, e.g., quadrupeds. The main goal of designing the ...
Design and development of a torsion-based series elastic actuator with nested encoders for a wearable exoskeleton robot
(IEEE, 2022)
This paper presents the design of a high torque-to-mass ratio series elastic actuator (SEA) for wearable powered exoskeletons. Nonbackdrivable actuators are ideal for applications that require high torque. Commonly, active ...
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