10 accepted papers
The prevailing and most effective approach to teleoperate a robotic arm involves a direct position-to-position mapping, imposing robotic end-effector movements that mirrors those of the user, Fig. 1-top. However, due to this one-to-one mapping, the robot's motions are limited by the user's capabilit
Through the use of robotic supernumerary limbs, it has been proposed that a single user could perform tasks like surgery or industrial assembly that currently require a team. Although validation studies, often conducted in virtual reality, have demonstrated that individuals can learn to command supe
Exoskeleton robots hold great potential for both industrial applications and assisting patients with locomotor disabilities. Among them, flexible exoskeletons, known as “exosuits”, have attracted a great deal of interest from researchers. Those are usually made up of flexible components such as cabl
This article presents an interactive control approach allowing a human user to teleoperate a robotic manipulator located nearby. With this approach, the user keeps his/her hands free, as only head movements are exploited to control the robot. The controller maps the 6 Degrees of Freedom (DoF) user's
Exoskeleton technologies have numerous potential applications, ranging from improving human motor skills to aiding individuals in their daily activities. While exoskeletons are increasingly viewed, for example, as promising tools in industrial ergonomics, the effect of using them on human motor cont…
This work investigates how arm swing movements measured by Inertial Motion Unit (IMU) sensors can be used to identify and maintain the walking state in a self-balanced lower-limb exoskeleton for medical use. When an exoskeleton is in a dynamical state during gait, short patterns in IMU signals (e.g.…
When the arm prosthesis worn by an amputated Human being is not adequately configured with respect to the end-effector task, body compensations are often observed. Namely, to compensate for a wrong joint positioning on the robotic distal side, a subject trying to reach a desired position/orientation…
Beyond the ultimate goal of prosthetics, repairing all the capabilities of amputees, the development line of upper-limb prostheses control mainly relies on three aspects: the robustness, the intuitiveness and the reduction of mental fatigue. Many complex structures and algorithms are proposed but no…
Assist-as-needed control aims at maximizing stroke survivors involvement during robotic-led therapies of neurorehabilitation. Besides the specific characteristics of the designed adaptive control strategy, a fundamental property of this control architecture is the choice of the error signal which wi…
Commercialized upper limb prostheses do not match the expectations of amputated people, especially transhumeral amputees. Most of them report a lack of functionality, mostly explained by a counter-intuitive control strategy. This paper presents the first implementation of an automatic prosthesis con…