6 accepted papers
Existing methods for rotation estimation between two spherical (\mathbb S ^2) patterns typically rely on spherical cross-correlation maximization between two spherical function. However, these approaches exhibit computational complexities greater than cubic O(n^3) with respect to rotation space disc…
Foot placement prediction can be important for exoskeleton and prosthesis controllers, human-robot interaction, or body-worn systems to prevent slips or trips. Previous studies investigating foot placement prediction have been limited to predicting foot placement during the swing phase, and do not f
Joint torque feedback is a new and promising means of kinesthetic feedback for providing information to a person or guiding them during a motion task. However, little work has been done in determining the psychophysical parameters of how well humans can detect external torques. In this study, we det…
We present a novel manufacturing process for creating monolithic, multi-chambered inflatable structures including both soft and rigid components. Specifically, our process involves stacking layers of textiles or plastics and thermal adhesive film, then bonding the structure with a heat press or in a…
The soft exosuit is a new approach for applying assistive forces over the wearer's body through load paths configured by the textile architecture. In this paper, we present a body-worn lower-extremity soft exosuit and a new control approach that can independently control the level of assistance that
Exosuits represent a new approach for applying assistive forces to an individual, using soft textiles to interface to the wearer and transmit forces through specified load paths. In this paper we present a body-worn, multi-joint soft exosuit that assists both ankle plantar flexion and hip flexion th…