4 accepted papers
Supernumerary robotic limbs (SRL) offer substantial potential in both the rehabilitation of hemiplegic patients and the enhancement of functional capabilities for healthy individuals. Designing a general-purpose SRL device is inherently challenging, particularly when developing a unified theoretical…
In human-robot systems, ensuring safety during force control in the presence of both internal and external disturbances is crucial. As a typical loosely coupled floating-base robot system, the supernumerary robotic leg (SRL) system is particularly susceptible to strong internal disturbances. To addr
Ankle dysfunction is common in the public following injuries, especially for stroke patients. Most of the current robotic ankle rehabilitation devices are driven by rigid actuators and have problems such as limited degrees of freedom, lack of safety and compliance, and poor flexibility. In this lett
To solve the poor compliance and safety problems in current rehabilitation robots, a novel two-degrees-of-freedom (2-DOF) soft ankle rehabilitation robot driven by pneumatic muscles (PMs) is presented, taking advantages of the PM's inherent compliance and the parallel structure's high stiffness and…