6 accepted papers
Soft fluidic actuators are increasingly being used for wearable haptic devices due to their high energy density and low encumbrance. These actuators are typically controlled using constant fluidic pressure control (CFPC), where the actuator pressure is switched between a high pressure source and atm…
Motor (re)-learning using a robotic exoskeleton can be improved by understanding what constitutes the optimal training environment for a subject that can maximize motor learning. We present a framework for motor (re)-learning using a robotic exoskeleton that provides subject-specific training by ada
Robotic rehabilitation of the hands from a neuromuscular impairment such as stroke requires controllers that could provide subject-specific assistance and result in fastest possible recovery. We present two such assist-as-needed controllers for a hand exoskeleton called Maestro that is designed to p
A critical question to be answered to improve robotic rehabilitation is what is the optimal rehabilitation environment for a subject that will facilitate maximum recovery during therapy? Studies suggest that task variability, nature and degree of assistance or error-augmentation and type of feedback…
In this paper, we present an electromyography (EMG)-driven assistive hand exoskeleton for spinal-cord-injury (SCI) patients. We developed an active assistive orthosis, called Maestro, which is light, comfortable, compliant, and capable of providing various hand poses. The EMG signals are obtained fr…
The torque control of finger joints is important for effective hand rehabilitation after neural disorders such as stroke. This paper presents an approach for accurate torque control of finger joints with UT hand exoskeleton. We present (1) how we obtained an accurate kinematics model, (2) how we bui…