5 accepted papers
In this paper, we propose a new compact variable gravity compensation mechanism (CVGC). The CVGC can be used to generate gravity compensation torque by using the cam and lever mechanism and can also amplify the target gravity compensation torque by varying the pivot point of the lever. The feature o…
Soft exosuits are a new approach for assisting with human locomotion, which applies assistive torques to the wearer through functional apparel. In this paper, we present a new version of autonomous multi-joint soft exosuit for gait assistance, particularly designed for overground walking. The soft e…
We present an autonomous and portable hip-only soft exosuit, for augmenting human walking and running that assists hip extension by delivering peak forces of 300N to the user. Different fixed assistance profiles for walking and running were applied based on an online classification algorithm. The ap…
In this paper, we present a design and control approach of a modular off-board actuation system with mono-articular hip exosuit, enabling the instantaneous assistive profile modification of magnitude, shape, and timing. The off-board system consists an actuation unit with two degrees of freedom that…
This paper presents a novel haptic device, named VirtuaPower, having abilities of 6 degrees of freedom (DOF) position measurement with a high-force display capability and wide workspace. The VirtuaPower is designed as a parallel mechanism with double in-parallel supporting chains. The mechanical des