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3-D dynamic walking trajectory generation for a bipedal exoskeleton with underactuated legs: A proof of concept
(IEEE, 2019-06)
This paper presents a framework to address three dimensional (3-D) dynamic walking for a bipedal exoskeleton with underactuated legs. To achieve this goal, the framework is constructed via a trajectory generator and an ...
A soft+rigid hybrid exoskeleton concept in scissors-pendulum mode: A suit for human state sensing and an exoskeleton for assistance
(IEEE, 2019-06)
In this paper, we present a novel concept that can enable the human aware control of exoskeletons through the integration of a soft suit and a robotic exoskeleton. Unlike the state-of-the-art exoskeleton controllers which ...
Optimal stiffness tuning for a lower body exoskeleton with spring-supported passive joints
(IEEE, 2018-10-09)
This paper presents a framework to optimally tune the stiffness values of spring-supported passive joints that are included in lower body exoskeletons. First, a dynamic model of a combined human-exoskeleton system was ...
Free simulation software and library
(Springer, 2018-01-01)
With the advent of powerful computation technologies and efficient algorithms, simulators became an important tool in most engineering areas. The field of humanoid robotics is no exception; there have been numerous simulation ...
An integrated design approach for a series elastic actuator: Stiffness formulation, fatigue analysis, thermal management
(IEEE, 2017-12-22)
This paper presents an integrated mechanical design approach for the long-Term and repetitive use of series elastic actuators (SEAs). Already, computational models for series elastic actuator design have been developed in ...
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