9 accepted papers
We previously proposed cable-driven wearable devices for exercise and gait assistance. It was a lightweight and suit-type device with programmable resistance or assistance adjustment capabilities. In this paper, we introduce 1) a wearable gym device designed to focus on lower limb muscles and 2) a s
Hip assistance with cable-driven devices has been proven to help decrease the metabolic cost of gait. However, most existing devices use heavy actuating modules or provide assistance in only one direction, limiting the effectiveness. Cable-driven devices are also difficult to accurately estimate the
To provide an alternative to conventional large-scale fitness equipment, we previously developed a soft passive wearable device for upper limb resistance exercises that utilized elastic exercise bands. However, the user was required to manually adjust the level of strength. In this paper, we introdu…
An increase in health awareness has fueled the development of fitness equipment or devices nowadays. Most conventional fitness devices have had some issues in space limitation and the high cost of equipment. With the advance in wearable robotics, we proposed a soft passive fitness wearable device fo…
In recent years, inflatable actuators have been widely used in wearable suits to assist humans who need help in moving their joints. Despite their lightweight and simple structure, they have long inflation and deflation times, which make their quick use difficult. To resolve this issue, we propose a
Pneumatic transmission has several advantages in developing powered ankle foot orthosis (AFO) systems, such as the flexibility in placing pneumatic components for mass distribution and providing high back-drivability via simple valve control. However, pneumatic systems are generally tethered to larg…
A data-driven approach has recently been investigated for identifying human joint angles by means of soft strain sensors because of the corresponding modeling difficulty. However, this approach commonly incurs a high computational burden due to the voluminous amount of data required and the time-ser
Despite the rapid advances in soft robotic actuation technologies, the main energy source that powers most wearable systems remains the conventional tethered stationary air compressor that greatly limits these systems' applicability. Several portable pneumatic energy sources have been introduced; ho
The closer distance between robots and human partners in the same space makes compliant robots essential in these days. While torque sensor based impedance control scheme suffers from insufficient bandwidth, musculoskeletal systems can achieve similar ability with smaller resources by using mechanic…