8 accepted papers
Hand motion tracking is essential in many fields, e.g., immersive virtual reality, teleoperation of robotic hand, and hand rehabilitation of stroke patient, as human hand plays a crucial role in our daily life. The highly under-actuated hand exoskeleton, which can track the 6-DoF motions of each fin…
The workspace limit to smoothly map unreachable motions sensed in the leader side$^1$ to the reachable workspace of the follower robot is fundamental for teleoperation systems. Although numerous workspace determination methods have been studied, the workspace limit approach still remains challenging
Orientability is an important performance index to evaluate the dexterity of haptic master devices. Currently, most of the existing haptic master devices have limited workspace and limited dexterity. In this paper, we present the RemoT-ARM, a 6 Degree-of-Freedom (DOF) haptic master device that can p…
Teleoperation systems require a human-centered approach in which the kinematic mapping is intuitive and straightforward for the operators. However, a mismatch in the degrees-of-freedom (DoFs) between master and slave could result in an asymmetrical teleoperation system. That is an obstacle for intui
This work presents a novel method for estimating online the torques at the ankle, knee and hip of a user with the goal of generating reference signals for torque controlled lower limb exoskeletons. In particular, this approach attempts to address difficulties arising in real life scenarios when nonc…
Exoskeletons offer an intuitive method for actuating multiple DOF of the body; this makes them attractive for applications where generation and coupling of artificial forces to the limbs is needed. Force feedback hand exoskeletons have been continuously considered for whole hand haptic interaction i…
In this work a novel synergy-based bilateral tele-manipulation strategy is introduced. The proposed algorithm has been primarily developed to remotely control the Pisa/IIT SoftHand (SH) using a 3-finger hand exoskeleton as master device. With a single actuator and a sensory system limited to a posit
This work presents the development of iT-Knee, a novel modular knee exoskeleton that makes use of a torque transmission interface to deliver pure assistive torque to the knee articulation, with the objective to act as rehabilitation tool, or a single joint add-on exoskeleton device for power augment…