6 accepted papers
Industrial exoskeletons are a potential solution for reducing work-related musculoskeletal disorders during carrying or lifting tasks. Having sensors, electrical/pneumatic actuators, and control systems, active exoskeletons present a more versatile control system because it is possible to select dif…
This letter presents the prototype of a human-sized, untethered athletic hopping and balancing underactuated monopedal robot designed to withstand crash landings. Experimental results in 2D of the robot balancing on an unstable contact point, hopping vertically, landing back, and balancing within a
The assistive profile of an active back support exoskeleton is strongly dependent on the manual tuning of controller gains based on previous experience and trial-and-error. Human-in-the-loop (HIL) optimization allows for automatic tuning of assistive profiles to different subjects. Most HIL methods…
Studies on back-support exoskeletons focus mostly on the evaluation of single devices. Also, these studies suggest that passive exoskeletons might be preferred when performing static tasks, whereas active ones, could show their advantage in dynamic tasks. To verify this hypothesis and provide a comp
In industrial environments, the control of arm assistive exoskeletons presents significant challenges due to complex dynamic movements. We propose a high-level controller for the Shoulder-sideWINDER that assists dynamic arm movement during a variety of tasks, based on mechanical characteristics of a
Occupational back-support exoskeletons see their potential application in many industrial sectors to mitigate low back pain risk for workers performing demanding tasks. This work aims to design and evaluate a control strategy that improves the efficacy of an active exoskeleton by exploiting the raw