12 accepted papers
Knee pain is prevalent in over 20% of the population, limiting the mobility of those affected. In turn, isokinetic dynamometers and robots have been used to facilitate rehabilitation for those still capable of ambulation. However, there are at most only a few wearable robots capable of delivering is…
Evolutionary pressures have pushed humans to become efficient walkers, but inefficient divers. People consume more energy to travel the same distance underwater than on land. In diverse overground locomotion, emerging exoskeletons have reduced the metabolic cost of humans. Can we also improve the en…
Self-driving laboratories have begun to replace human experimenters in performing single experimental skills or predetermined experimental protocols. However, as the pace of idea iteration in scientific research has been intensified by Artificial Intelligence, the demand for rapid design of new prot…
Industrial designers have long sought a natural and intuitive way to achieve the targeted control of prototype models---using simple natural language instructions to configure and adjust the models seamlessly according to their intentions, without relying on complex modeling commands. While Large La…
Accurate representation of procedures in restricted scenarios, such as non-standardized scientific experiments, requires precise depiction of constraints. Unfortunately, Domain-specific Language (DSL), as an effective tool to express constraints structurally, often requires case-by-case hand-craftin…
Recent development in Artificial Intelligence (AI) models has propelled their application in scientific discovery, but the validation and exploration of these discoveries require subsequent empirical experimentation. The concept of self-driving laboratories promises to automate and thus boost the ex…
In this paper, we present a low-damping active knee prosthesis (LDKP) with low noise and high backdrivability. The proposed prosthesis is driven by a motor and then decelerated by a four-stage synchronous belt. High backdrivability given by this structure accelerates the prosthetic response. A contr…
Wrist kinematics estimation with muscle signals is a key issue in the field of wearable robots. In this study, we proposed a musculoskeletal-based-method driven by the Electrical Impedance Tomography (EIT) signals for continuously estimating wrist flexion/extension angles. The EIT-based interface ca
Locomotion mode recognition based on the off-line trained model brings difficulties in integration and application to wearable robots. In this paper, we put forward an on-board training based on back propagation (BP) neural network and developed the real-time locomotion mode recognition research in…
In this study, we proposed a novel human-machine interface (HMI) for robotic manipulator control. The specific target was to adjust the impedance coefficients of the robot controller in real time by measuring the human forearm muscle contractions. We firstly designed a HMI system. Different from the…
During early and middle stance of level-ground walking, the ankle joint usually rotates passively due to the locomotion of human body. Based on this passive dynamics of human locomotion, we develop an energy-efficient torque controller with hierarchical structure for a robotic prosthesis. The low-le
This paper presents a realtime locomotion mode recognition method for an active pelvis orthosis. Five locomotion modes, including sitting, standing still, level-ground walking, ascending stairs, and descending stairs, are taken into consideration. The recognition is performed with locomotion informa…