6 accepted papers
Cable-driven exosuits assist users in ambulatory activities by transmitting assistive torques from motors to the actuated joints. State-of-the-art exosuits typically use Bowden cable transmissions, albeit their limited efficiencies (40–60 %) and non-linear response in curved paths. This paper evalua
Robot-assisted neurorehabilitation requires trajectories between arbitrary poses in the patient's range of motion. Data-driven optimization methods, such as Learning by Demonstration, are well suited to replicate complex multi-joint movements. However, these methods lack individualization to patient
During robot-assisted therapy of hemiplegic patients, interaction with the patient must be intrinsically safe. Straight-forward collision avoidance solutions can provide this safety requirement with conservative margins. These margins heavily reduce the robot's workspace and make interaction with th…
A high-quality free-motion rendering is one of the most vital traits to achieve an immersive human-robot interaction. Rendering free-motion is notably challenging for rehabilitation exoskeletons due to their relatively high weight and powerful actuators required for strength training and support. In…
This letter presents a versatile upper-limb exoskeleton based on low-impedance torque controllable series elastic actuators. This experimental platform is designed to validate novel algorithms and hardware concepts for more autonomous therapy of moderately and severely affected patients with a neura
Multiplayer environments are thought to increase and prolongate active participation in robot-aided rehabilitation. We expect that environments linking patients with their spouses will particularly foster active participation. Thus, we developed two multiplayer games to link the game experience of t…