5 accepted papers
Lower-limb exoskeletons have the potential to enhance mobility and reduce the metabolic cost of walking,while conventional control strategies often lack adaptability and require labor-intensive tuning. Recent advances in reinforcement learning (RL) provide new opportunities for generating efficient …
This paper presents an adjustable knee joint for a wearable robot for the elderly, to provide physical gait assistance. In order to compensate for the translational and rotational movements of the knee in the sagittal plane as well as aligning the frontal plane, the proposed knee joint is implemente…
This letter proposes a multifunctional ankle exoskeleton to safely expand the mobility. By applying torque to the ankle in dorsiflexion and plantarflexion, the exoskeleton prevents foot drop and foot slip and helps the ankle to push off the ground. The exoskeleton includes a remote center-of-motion
We developed a robotic lower-limb exoskeleton for those who have weakened muscle due to aging and experience difficulty in walking or getting up without help. The exoskeleton covering both limbs from the feet to the waist has 6 electric actuators in the hip abduction/adduction, hip extension/flexion…
This paper presents an adjustable knee mechanism for walking assistance devices for the elderly to provide physical gait assistance. The adjustable knee mechanism can assist in flexion/extension motions of the knee joint and compensate for the transitional movements of the knee in the sagittal plane…