3 accepted papers
This letter presents design and control innovations of wearable robots that tackle two barriers to widespread adoption of powered exoskeletons: restriction of human movement and versatile control of wearable co-robot systems. First, the proposed high torque density actuation comprised of our customi
Back injuries are the most prevalent work-related musculoskeletal disorders and represent a major cause of disability. Although innovations in wearable robots aim to alleviate this hazard, the majority of existing exoskeletons are obtrusive because the rigid linkage design limits natural movement, t
This letter presents design principles for comfort-centered wearable robots and their application in a lightweight and backdrivable knee exoskeleton. The mitigation of discomfort is treated as mechanical design and control issues and three solutions are proposed in this letter: 1) a new wearable str