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In the growing fields of wearable robotics, rehabilitation robotics, prosthetics, and walking k robots, variable stiffness actuators (VSAs) or adjustable compliant actuators are being designed and implemented because of their ability to minimize large forces due to shocks, to safely interact with the user, and their ability to store and release energy in passive elastic elements. This review article...
Wearable robotic systems can be used to assist people suffering paralysis from stroke. This paper presents the mechanical design, electronics and control structure of a powered ankle foot orthosis for stroke survivors walking on a treadmill. the mechanical structure consists of a powered orthosis using a robotic tendon that uses a motor to correctly position a tuned spring in the gait pattern. During...
With over 600,000 people each year surviving a stroke, it has become the leading cause of serious long-term disability in the United States [1, 2, 3]. Studies have proven that through repetitive task training, neural circuits can be re-mapped thus increasing the mobility of the patient [4, 5, 6, 7, 8]. This fuels the emerging field of rehabilitation robotics. As technology advances new therapy robots...
A portable wearable robotic device that can actively supplement locomotion of partially limited ambulators in their normal environment (variable terrain, weather, man made structures, etc.) seems highly desirable but currently short of attainment due to several key technology gaps. Low energy and power density in current actuation technology, inadequate control schemes and safety of use are leading...
This paper presents a new human-based navigation model to guide a mobile robot to intercept ground balls. The new model consists of two strategies: the optical acceleration cancellation (OAC) model, and the lateral alignment strategy. The OAC model uses a linearly decreasing cotangent function of the gaze angle to reduce the distance between the robot and the target on the ground. It determines a...
We report the development and initial evaluation of a device for robotic assisted upper extremity repetitive therapy (RUPERTtrade). Intense repetitive physical therapies provided by individualized interaction between the patient and a rehabilitation specialist to overcome upper extremity impairment after stroke are beneficial, however, they are expensive and difficult to evaluate quantitatively and...
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