The exoskeleton expansion: improving walking and running economy
Since the early 2000s, researchers have been trying to develop lower-limb exoskeletons
that augment human mobility by reducing the metabolic cost of walking and running versus …
that augment human mobility by reducing the metabolic cost of walking and running versus …
A tutorial survey and comparison of impedance control on robotic manipulation
There have been significant interests and efforts in the field of impedance control on robotic
manipulation over last decades. Impedance control aims to achieve the desired mechanical …
manipulation over last decades. Impedance control aims to achieve the desired mechanical …
Continuous-phase control of a powered knee–ankle prosthesis: Amputee experiments across speeds and inclines
D Quintero, DJ Villarreal, DJ Lambert… - IEEE Transactions …, 2018 - ieeexplore.ieee.org
Control systems for powered prosthetic legs typically divide the gait cycle into several
periods with distinct controllers, resulting in dozens of control parameters that must be tuned …
periods with distinct controllers, resulting in dozens of control parameters that must be tuned …
Online reinforcement learning control for the personalization of a robotic knee prosthesis
Robotic prostheses deliver greater function than passive prostheses, but we face the
challenge of tuning a large number of control parameters in order to personalize the device …
challenge of tuning a large number of control parameters in order to personalize the device …
A survey of belief rule-base expert system
ZJ Zhou, GY Hu, CH Hu, CL Wen… - IEEE Transactions on …, 2019 - ieeexplore.ieee.org
The belief rule-base (BRB) model is a new intelligent expert system with the characteristics
of both expert system and data-driven model. In BRB there are many if-then rules which use …
of both expert system and data-driven model. In BRB there are many if-then rules which use …
Autonomous multi-joint soft exosuit with augmentation-power-based control parameter tuning reduces energy cost of loaded walking
Background Soft exosuits are a recent approach for assisting human locomotion, which
apply assistive torques to the wearer through functional apparel. Over the past few years …
apply assistive torques to the wearer through functional apparel. Over the past few years …
Data-driven variable impedance control of a powered knee–ankle prosthesis for adaptive speed and incline walking
Most impedance-based walking controllers for powered knee–ankle prostheses use a finite
state machine with dozens of user-specific parameters that require manual tuning by …
state machine with dozens of user-specific parameters that require manual tuning by …
Human-in-the-loop optimization of wearable robotic devices to improve human–robot interaction: A systematic review
This article presents a systematic review on wearable robotic devices that use human-in-the-
loop optimization (HILO) strategies to improve human–robot interaction. A total of 46 HILO …
loop optimization (HILO) strategies to improve human–robot interaction. A total of 46 HILO …
Powered knee and ankle prosthesis with indirect volitional swing control enables level-ground walking and crossing over obstacles
Powered prostheses aim to mimic the missing biological limb with controllers that are finely
tuned to replicate the nominal gait pattern of non-amputee individuals. Unfortunately, this …
tuned to replicate the nominal gait pattern of non-amputee individuals. Unfortunately, this …
Powered knee and ankle prosthesis with adaptive control enables climbing stairs with different stair heights, cadences, and gait patterns
Powered prostheses can enable individuals with above-knee amputations to ascend stairs
step-over-step. To accomplish this task, available stair ascent controllers impose a …
step-over-step. To accomplish this task, available stair ascent controllers impose a …