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Robotic assistive devices enhance the autonomy of individuals living with physical disabilities in their day-to-day life. Although the first priority for such devices is safety, they must also be intuitive and efficient from an engineering point of view in order to be adopted by a broad range of users. This is especially true for assistive robotic arms, as they are used for the complex control tasks...
This paper presents motion planning and control algorithms for a belt-driven locomotion interface that allows the rendering of an infinite virtual environment, in which a user can walk on a level surface or walk up (or down) stairs. The paper mainly focuses on the development of the cancellation algorithm that brings the user back in the physical workspace of the locomotion interface, and thus generates...
This paper presents the design of a locomotion interface for gait simulation and interaction with a virtual environment. The proposed mechanical interface is based on two planar two-degree-of-freedom belt-driven mechanisms which fully decouple the vertical and horizontal motion of two supporting footplates. Force sensors are mounted under the footplates in order to move the end effectors according...
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