14 accepted papers
Variable stiffness actuators can dynamically adjust output stiffness to accommodate varying task demands, making them well suited for grasping applications. Nevertheless, conventional variable stiffness actuators often suffer from bulky structures, slow response, and complex control, which hinders t
Gravity compensation has been widely employed in lower limb exoskeletons to reduce leg load and alleviate muscle fatigue. Passive compensation approaches offer inherent safety and lightweight advantages; however, existing designs are often constrained by the bulk and complexity of spring-based mecha
，重力补偿已被广泛应用于下肢 外骨骼用于减轻腿部负荷并缓解肌肉疲劳。被动 补偿方式具有固有的安全性和轻量化 优势;然而，现有设计常常受限于体积 以及基于弹簧的机制复杂性，这会损害 外骨骼的紧凑性和可靠性。为了解决这些问题 局限性，针对 可穿戴的被动双侧下肢外骨骼，具有紧凑型， 设计简单且坚固。基于 合成质心映射方法首先被引入，随后进行扩展 通过微分结构实现双侧配置。综合赛 采用自适应恒定力机制，最终系统 保持结构简洁和空间效率，使其 适合集成空间有限的可穿戴应用。一个 外骨骼原型基于所提出的机制构建， 其性能通过实验进行
Gravitational loading from a transradial prosthesis imposes continuous mechanical stress on the residual limb, potentially causing discomfort and even prosthesis rejection. This letter presents the Floating Prosthesis, a wearable passive exoskeleton designed for gravity compensation (GC) in transrad
Assist-as-needed (AAN) strategies aim to enhance active participation, thereby promoting neuroplasticity and facilitating motor recovery. However, due to variations in injury severity and motor abilities, non-adaptive AAN control strategies may provide suboptimal assistance. This letter proposes a t
In the force feedback of physical human-robot interaction, stiffness is rendered to represent the hardness of the manipulated object, aiding users in executing accurate maneuvers. Active feedback based on electric motors usually cannot simultaneously achieve both high force and high backdrivability,
Transformable-wheeled robots exhibit efficient locomotion and obstacle negotiation through mode transformation, which underpins the development of the multimodal robot MTABot—a previously validated platform. However, existing literature primarily focuses on structural design, leaving autonomous mode
Terrestrial-aerial robots, capable of swift aerial navigation and enduring terrestrial operations, possess significant potential for utilization in exploration and rescue missions. However, achieving their capability to negotiate diverse terrains with a high-power-efficient structure remains a formi
Mainstream approaches to aligning large language models (LLMs) heavily rely on human preference data, particularly when models require periodic updates. The standard process for iterative alignment of LLMs involves collecting new human feedback for each update. However, the data collection process i…
Recent advancements in reference-free learned metrics for open-domain dialogue evaluation have been driven by the progress in pre-trained language models and the availability of dialogue data with high-quality human annotations. However, current studies predominantly concentrate on English dialogues…
Text discourse parsing plays an important role in understanding information flow and argumentative structure in natural language. Previous research under the Rhetorical Structure Theory (RST) has mostly focused on inducing and evaluating models from the English treebank. However, the parsing tasks f…
This paper developed a 4-degree-of-freedom cable-driven upper limb rehabilitation robot and proposed a control algorithm of the passive training for this robot. Comparing with the conventional cable-driven rehabilitation robot, the workspace of this robot is increased by optimizing the distribution…