20 accepted papers
Impedance-based control represents a prevalent strategy in the powered transfemoral prostheses because of its ability to reproduce natural walking. However, most existing studies have developed impedance-based prosthesis controllers for specific tasks, while creating a task-adaptive controller for v
For amputees with powered transfemoral prosthetics, navigating obstacles or complex terrain remains challenging. This study addresses this issue by using an inertial sensor on the sound ankle to guide obstacle-crossing movements. A genetic algorithm computes the optimal neural network structure to p
Environment awareness is crucial for enhancing walking safety and stability of amputee wearing powered prosthesis when crossing uneven terrains such as stairs and obstacles. However, existing environmental perception systems for prosthesis only provide terrain types and corresponding parameters, whi…
This paper presents a locomotion controller for a novel human-augmented legged robot, the Centaur robot, which is primarily developed to extend the human's ability to carry load. For such a human-robot walking system, there are requirements for the robot to maintain a balanced posture, provide a pro
Accurately distinguishing between action-related features and non-action-related features is crucial in spatio-temporal action detection tasks. Additionally, the calibration and fusion of information across different modalities remain challenging. This paper proposes a novel Motion Sense and Semanti…
People with two-arm disabilities need to grasp various densely placed objects in their daily life. However, current arm-free human-robot interfaces (HRIs), such as language-based and gaze-based HRI, are difficult to effectively control the robotic arm to complete the above task. To achieve this task
This work aims to investigate the problem of 3D modeling using single free-hand sketches, which is one of the most natural ways we humans express ideas. Although sketch-based 3D modeling can drastically make the 3D modeling process more accessible, the sparsity and ambiguity of sketches bring signif…
Supernumerary robotic limbs (SRLs) are novel wearable robots that can be used to augment human operating ability in completing some difficult and complex tasks. In this work, a task-based human-SRLs collaboration control method for overhead tasks is developed. It is autonomous and safe without the n
On-Site assembly is an important and complex task in many industrial fields, and it usually needs the cooperation of two skilled people. SuperLimb enhances the user's capabilities by increasing the number of limbs and provides the possibility for one person to perform on-site assembly tasks. However
Walking with load is a common task in daily life and disaster rescue. Long-term load carriage may cause irreversible damage to the human body. Although remarkable progress has been made in the field of wearable robots, it is still far from avoiding interference to human legs, which will lead to ener…
Gait phase-based control is a trending research topic for walking-aid robots, especially robotic lower-limb prostheses. Gait phase estimation is a challenge for gait phase-based control. Previous researches used the integration or the differential of the human's thigh angle to estimate the gait phas
Researchers are currently making progress in unifying the entire gait cycle of powered prostheses by using a human-inspired phase variable, but constructing a robust phase variable to more accurately estimate the gait phase and desired joint trajectories of prostheses during varying walking speeds r
Firstly, in the letter [1], there is a missing citation in Section II, part B, the first sentence. It should be “In a manner similar to [2], [3], speed estimation was achieved by a double-pendulum model.” In our previous version [1], speed estimation was based on the principles in [3]. We also refer
In this letter, we present an underactuated soft exoskeleton which can sequentially provide knee extension and ankle plantarflexion assistance for each leg with only one motor. The aim of this work is to assist the motions that have chronological moments at lower-limb joints and minimize the mass ca
In recent years, lower-limb exoskeletons have been applied to assist people with weak mobility in daily life, which requires enhanced adaptability to complex environments. To achieve a smooth transition between different assistive strategies and provide proper assistance at the desired timing during
Predicting the locomotion intent of humans is important for controlling assistive robots. Previous studies have investigated assistive walking on structured terrains, but only a few studies have considered rough terrains. Human intent on rough terrains is more difficult to predict because there is a
Overhead manipulation tasks often require collaborations between two operators, which becomes challenging in confined spaces such as in a compartment. Supernumerary Robotic Limb (SuperLimb), as a promising wearable robotic solution, can provide assistance in terms of broader workspace, wider manipul
During COVID-19, with a heavy sprayer filled with disinfectant, the risk of infection for epidemic prevention personnel has been increased by long-term environmental disinfection. In order to reduce the burden and save energy of human, this letter proposed a Wheel-Legged Robotic Limb (WRL) for the c
Compliance is important for humanoid robots, especially a position-controlled one, to perform tasks in complicated environments where unexpected or sudden contacts will result in large impacts which may cause instability or destroy the hardware of robots. This paper presents a compliance control met…
IMU-based human joint motion acquisition system is attractive for real-time control and monitoring in the emerging wearable technology due to its portability. However, in practical applications, it heavily suffers from long-term drift, magnetic interference and inconsistency of rotational reference