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This paper presents three haptic-based virtual applications for the undergoing rehabilitation of upper-limb post stroke patients. The three exercises are developed for their use on the multi-modal interface so-called Bimanual Haptic Desktop System (BHDS), which integrates the haptic functionalities and Video Display Terminal (VDT) within the work-plane of a desk. Firstly, two basic exercises, tracking...
The required tasks in fixed-base exoskeletons demand a fast position/force controller; yet robust against unknown disturbances due to the application itself is tightly coupled with a human in a wide range of operational conditions, which give rise to human-exoskeleton interaction dynamics, high nonlinear uncertain exoskeleton dynamics, noisy sensors and other parametric uncertainties, such as environmental...
Fixed-Base Exoskeleton applications have increased rapidly in the last few years, evidently as part of promising rehabilitation robotic programs of the robotics worldwide community, where in particular Human-Robot-Interaction (HRI) plays an important role in its design and control because they are tightly coupled to human-limbs. Exoskeletons embrace HRI as well as technological and theoretical challenges...
Human walking gait (HWG) involves concurrently complex aspects of control, signal conditioning and processing, motion capture and biomechanical analysis as well as bioelectronic instrumentation and robot control. To merge some of these concepts into a unique framework, in this paper, a computational mechatronics scheme is proposed for the analysis and synthesis of HWG based on a seven-link sagittal...
This contribution discusses the advanced technologies integration: the PERCRO light-exoskeleton and the PERCRO data-glove wherein the main pursuit is the enhancement of the human grasping skills inside virtual environments. The mastering of motor human skills for taking up, lifting or manipulating objects during grasping tasks, could be effectively enhanced thanks to the inclusion of an arm exoskeleton...
The analysis, synthesis and mechanical design of a wearable biomechanical device for treating the club-foot children malformation is presented in this paper. This system serves as non-invasive alternative method for correcting this congenital malformation in 0-1 year-old children. Robot kinematics and constrained Euler-Lagrange dynamics tools are employed to analyse this malformation, altogether with...
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