3 accepted papers
How best to attach exoskeletons to human limbs is an open and understudied problem. In the case of upperbody exoskeletons, cylindrical handles are commonly used attachments due to ease of use and cost effectiveness. However, handles require active grip strength from the user and may result in undesi…
In this study, we address the inverse kinematics problem for an upper-limb exoskeleton by presenting a novel method that guarantees the satisfaction of joint-space constraints, and solves closed-chain mechanisms in a serial robot configuration. Starting from the conventional differential kinematics…
Robotic exoskeletons open up promising interventions during post-stroke rehabilitation by assisting individuals with sensorimotor impairments to complete therapy tasks. These devices have the ability to provide variable assistance tailored to individual-specific needs and, additionally, can measure…