Soft robots typically exhibit limited agility due to inherent properties of soft materials. The
structural design of soft robots is one of the key elements to improve their mobility. Inspired …

As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can
provide auxiliary rehabilitation training for patients with lower limb walking impairment/loss …

To achieve effective and safe Human-Robot Interaction (HRI), much attention is paid on the
backdrivability of robot actuators. According to the realization approaches, the …

This work investigates the gravity compensation topic, from a control perspective. The gravity
could be levelled by a compensating mechanical system or in the control law, such as …

Virtual environments designed for haptic applications are usually rendered as a combination
of spring and damper elements. The resulting haptic experience can be greatly enhanced by …

Virtual Reality environments are being used on a mass scale in fields, such as Industry and
Medicine. These virtual scenarios serve very different purposes such as prototyping, gaming …

The goal of neurorehabilitation, a sophisticated medical procedure, is to facilitate the
recovery from a nervous system damage and to compensate for any functional alterations …

In this study, we present a feedforward control system designed for active gravity
compensation on an upper body exoskeleton. The system utilizes only positional data from …

The paper is devoted to the development of a gravity compensator based on elastic hinges
with a given characteristic for holding objects weighing several tens of kg. A joint with a …

Duchenne Muscular Dystrophy (DMD) is a progressive degenerative neuromuscular
disorder, causing 1: 5000 boys and men to lose functionality in their muscles from a young …