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In the field of gait rehabilitation robotics, achieving human–robot synchronization is very important. In this paper, a novel human–robot synchronization method using gait event information is proposed. This method includes two steps. First, seven gait events in one gait cycle are detected in real time with a hidden Markov model; second, an adaptive oscillator is utilized to estimate the stride percentage...
This paper introduces a novel continuum-style robot that integrates multiple layers of compliant modules. Its essential features lie in that its bending is not based on natural compliance of a continuous backbone element or soft skeletal elements but instead is based on the compliance of each structured planar module. This structure provides several important advantages. First, it demonstrates a large...
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