8 accepted papers
Exoskeletons show great promise for enhancing mobility, but providing appropriate assistance remains challenging due to the complexity of human adaptation to external forces. Current state-of-the-art approaches for optimizing exoskeleton controllers require extensive human experiments in which parti…
Ankle exoskeletons have the potential to augment mobility, but control strategies have largely failed to seamlessly adapt to changes in the locomotion task. Here, we introduce a multi-headed network that predicts gait speed, ground incline, stance/swing transitions, and percent stance. These predict
Lower limb exoskeletons and exosuits have shown promise in augmenting human physical capabilities, with applications ranging from rehabilitation to performance enhancement. Accurate evaluation of their impact on metabolic energy expenditure is crucial for optimizing design and control strategies. Wh
Recent advancements in bionic prosthetic technology offer transformative opportunities to restore mobility and functionality for individuals with missing limbs. Users of bionic limbs, or bionic humans, learn to seamlessly integrate prosthetic extensions into their motor repertoire, regaining critica…
Optimized assistance patterns have produced the greatest exoskeleton benefits to energy expenditure of any strategy to date. This strategy may be effective due to the customization of the applied torque profiles to the user as well as the locomotion condition; however, it is currently unclear how se…
Robotics controllers often consist of expert-designed heuristics, which can be hard to tune in higher dimensions. Simulation can aid in optimizing these controllers if parameters learned in simulation transfer to hardware. Unfortunately, this is often not the case in legged locomotion, necessitating…
Our goal is to bring animation characters to life in the real world. We present a bipedal robot that looks like and walks like an animation character. We start from animation data of a character walking. We develop a bipedal robot which corresponds to lower part of the character following its kinema…
Walking controllers for bipedal robots have not yet reached human levels of robustness in locomotion. Imitating the human motor control might be an alternative strategy for generating robust locomotion in robots. We seek to control bipedal robots with a specific neuromuscular human walking model pro…