7 accepted papers
During human-robot interaction, we want the robot to understand us, and we want to intuitively understand the robot. In order to communicate with and understand the robot, we can leverage interactions, where the human and robot observe each other's behavior. However, it is not always clear how the h
A hybrid hand exoskeleton, leveraging rigid and soft elements, has been designed to serve as an assistive device to return the ability to perform activities of daily living (ADL) and improve quality of life for a broad population with hand impairment. This glove-like exoskeleton, the SeptaPose Assis
Haptic interfaces are mechatronic devices designed to render tactile sensations; although they are typically based on robotic manipulators external to the human body, recently, interesting wearable solutions have been presented. Toward a more realistic feeling of virtual and remote environment inter
There is currently a scarcity of wearable robotic devices that can practically provide physical assistance in a range of real world activities. Soft wearable exoskeletons, or exosuits, have the potential to be more portable and less restrictive than their rigid counterparts. In this paper, we presen…
Rigid haptic devices enable humans to physically interact with virtual environments, and the range of impedances that can be safely rendered using these rigid devices is quantified by the Z-Width metric. Series elastic actuators (SEAs) similarly modulate the impedance felt by the human operator when…
Robotic devices have been shown to be efficacious in the delivery of therapy to treat upper limb motor impairment following stroke. However, the application of this technology to other types of neurological injury has been limited to case studies. In this paper, we present a multi degree of freedom…
The fidelity with which series elastic actuators (SEAs) render desired impedances is important. Numerous approaches to SEA impedance control have been developed under the premise that high-precision actuator torque control is a prerequisite. Indeed, the design of an inner torque compensator has a si…