6 accepted papers
While existing literature encompasses exoskeleton-assisted sit-stand tasks, the integration of energy recovery mechanisms remains unexplored. To push the boundaries further, this study introduces a portable pneumatic knee exoskeleton that operates in both quasi-passive and active modes, where active…
This paper presents a study on the use of the Talos humanoid robot for performing assistive sit-to-stand or stand-to-sit tasks. In such tasks, the human exerts a large amount of force (100–200 N) within a very short time (2–8 s), posing significant challenges in terms of human unpredictability and r…
The paper presents a novel control method for the arm exoskeletons that takes into account the muscular force manipulability of the human arm. In contrast to classical controllers that provide assistance without considering the biomechanical properties of the human arm, we propose a control method t…
In this paper we propose a novel control approach for robots that are physically coupled with humans, such as exoskeletons and assisting devices. In contrast with the conventional controllers, where assistance is usually provided indifferently of the configuration of the arm and direction of the mot…
In this paper we exploit Iterative Learning Controllers (ILC) schemes in force adaptation tasks. We propose to encode the control signal with Radial Basis Functions (RBF), which enhances the robustness of the ILC scheme and allows to vary the execution speed of the learned motion. For that a novel c…
In this paper we propose a human-in-the-loop approach for teaching robots how to solve part assembly tasks. In the proposed setup the human tutor controls the robot through a haptic interface and a hand-held impedance control interface. The impedance control interface is based on a linear spring-ret…