Ge Lv — accepted AI-conference papers

2017

Design and validation of a torque dense, highly backdrivable powered knee-ankle orthosis

Hanqi Zhu, Jack Doan, Calvin Stence, Ge Lv, Toby Elery, Robert Gregg

ICRA 2017poster

This paper presents the mechatronic design and experimental validation of a novel powered knee-ankle orthosis for testing torque-driven rehabilitation control strategies. The modular actuator of the orthosis is designed with a torque dense motor and a custom low-ratio transmission (24:1) to provide…

Cited by 77 Source ↗Scholar ↗

2016

Experimental implementation of underactuated potential energy shaping on a powered ankle-foot orthosis

Ge Lv, Hanqi Zhu, Toby Elery, Luwei Li, Robert D. Gregg

ICRA 2016

Traditional control methodologies of rehabilitation orthoses/exoskeletons aim at replicating normal kinematics and thus fall into the category of <i>kinematic control</i>. This control paradigm depends on pre-defined reference trajectories, which can be difficult to adjust between different locomoto

Cited by 18 Source ↗Scholar ↗