Biomechanics-Informed Mechatronics Design of Comfort-Centered Portable Hip Exoskeleton: Actuator, Wearable Interface, Controller [0.03%]
面向舒适的便携式髋部外骨骼的机构-机电综合设计：传动装置、佩戴界面和控制器
Daniel Rodríguez-Jorge,Sainan Zhang,Jin Sen Huang et al.
Daniel Rodríguez-Jorge et al.
Exoskeletons can improve human mobility, but discomfort remains a significant barrier to their widespread adoption. This paper presents a comfort-centered mechatronics design of portable hip exoskeletons, comprising of three factors: (i) ac...
Simultaneous Estimation of Hand Configurations and Finger Joint Angles Using Forearm Ultrasound [0.03%]
基于前臂超声波的同时估算手的构型和手指关节角度的方法
Keshav Bimbraw,Christopher J Nycz,Matthew Schueler et al.
Keshav Bimbraw et al.
With the advancement in computing and robotics, it is necessary to develop fluent and intuitive methods for interacting with digital systems, augmented/virtual reality (AR/VR) interfaces, and physical robotic systems. Hand motion recognitio...
Effects of Ankle Exoskeleton Motor Location on Gait Biomechanics and User Perceptions: The Bowden Cable Dilemma [0.03%]
踝部外骨骼电机安装位置对步态生物力学和用户主观感受的影响：Bowden电缆的两难困境
Shanpu Fang,Riley J Shepard,Collin D Bowersock et al.
Shanpu Fang et al.
Motor-powered ankle exoskeletons have been shown to improve walking and rehabilitation outcomes in individuals with and without gait impairments (e.g., cerebral palsy (CP)). To date, ankle exoskeleton designs have either placed the motors o...
Design, Control, and Evaluation of a Robotic Ankle-Foot Prosthesis Emulator [0.03%]
一种假肢足踝模拟器的设计、控制和评价
Anthony J Anderson,Yuri F Hudak,Brittney C Muir et al.
Anthony J Anderson et al.
People with transtibial limb loss experience reduced mobility. Intelligent ankle-foot prostheses have the potential to improve quality of life in people with limb loss, but there are scientific, clinical, and commercial barriers that preven...
Optimizing the Mechanics of a Variable-Stiffness Orthosis with Energy Recycling to Mitigate Foot Drop [0.03%]
一种具有能量回收功能的可变刚度外骨骼优化设计以减轻足下垂症状的研究
Emily A Bywater,Nikko Van Crey,Elliott J Rouse
Emily A Bywater
In ankle-foot orthosis development, it is challenging to both specify the appropriate ankle mechanics and design systems that can physically render them. Recently, a new ankle-foot orthosis - the Variable Stiffness Orthosis (VSO) - was intr...
Kinematic compatibility of a wrist robot with cable differential actuation: effects of misalignment compensation via passive joints [0.03%]
通过被动关节补偿错位的缆索差动驱动腕部机器人机构相容性研究
Haider A Chishty,Andrea Zonnino,Andria J Farrens et al.
Haider A Chishty et al.
We present the UDiffWrist (UDW), a low-impedance 2-DOF wrist exoskeleton featuring a cable-differential transmission. To investigate the effect of different design strategies for achieving kinematic compatibility, we developed two versions ...
Autonomous Powered Ankle Exoskeleton Improves Foot Clearance and Knee Hyperextension After Stroke: A Case Study [0.03%]
自主式踝部外骨骼可改善卒中患者的足廓清和膝过度伸展：病例研究
Kai Pruyn,Rosemarie Murray,Lukas Gabert et al.
Kai Pruyn et al.
Hemiparetic gait is often characterized by ankle weakness, resulting in decreased propulsion and clearance, as well as knee hyperextension. These gait deviations reduce speed and efficiency while increasing the risk of falls and osteoarthri...
Assessing the utility of Regenerative Peripheral Nerve Interfaces (RPNIs) in providing referred sensations in a functional task in a virtual environment [0.03%]
再生外周神经接口(RPNI)在虚拟环境中的功能性任务中提供牵涉感觉的效用评估
Jake D N Kanetis,Michael A Gonzalez,Alex K Vaskov et al.
Jake D N Kanetis et al.
Individuals who use upper limb prostheses receive limited feedback from their devices. Researchers have attempted to elicit sensation through direct stimulation of peripheral nerves or through stimulation of reinnervated skin or muscle. Pre...
Grasp Force Assistance via Throttle-based Wrist Angle Control on a Robotic Hand Orthosis for C6-C7 Spinal Cord Injury [0.03%]
通过基于节流的腕关节角度控制在机器人手矫形器上为C6-C7脊髓损伤提供抓力辅助
Joaquin Palacios,Alexandra Deli-Ivanov,Ava Chen et al.
Joaquin Palacios et al.
Individuals with hand paralysis resulting from C6-C7 spinal cord injuries frequently rely on tenodesis for grasping. However, tenodesis generates limited grasping force and demands constant exertion to maintain a grasp, leading to fatigue a...
Human control of underactuated objects: Adaptation to uncertain nonlinear dynamics ensures stability [0.03%]
人类对欠驱动物体的控制：适应不确定的非线性动力学以确保稳定性
Rakshith Lokesh,Dagmar Sternad
Rakshith Lokesh
Humans frequently interact with objects that have dynamic complexity, like a cup of coffee. Such systems are nonlinear and underactuated, potentially creating unstable dynamics. Instabilities generate complex interaction forces that render ...