3 accepted papers
This paper presents a novel ankle rehabilitation platform based on an inclined dual-cylinder mechanism that provides 2-DoF motion through geometric coupling, without complex multi-link structures. Two cylinders sharing a 9° inclined contact surface are driven by two stepper motors, enabling simultan…
Balance problems can be a major cause of falling. Existing gait balance rehabilitation devices usually have limited overground usability due to low portability. Therefore, there is need for development of a portable gait balance rehabilitation system. To fulfill this need, a wearable balance biofeed
The da Vinci Research Kit (dVRK) was introduced in 2012 to provide an affordable, open-source platform for research in robotic minimally-invasive surgery. It provides access to all levels of control but, until now, has relied on an analog controller for the motor current, which cannot easily be cust…