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Power wheelchair users suffering from cognitive or physical impairment often face difficulties in maneuvering their wheelchairs through crowded environments. Currently, users need to be continuously aware of all traffic around them to actively avoid all collisions. This is an especially difficult task since many wheelchair users are unable to accurately view or perceive their surroundings. Additionally,...
Activities of Daily Living (ADL's) refer to tasks that people do on a daily basis, such as self-feeding, cleaning the house, or bathing. These activities often require a degree of functional mobility that may be outside the ability of a person suffering from cognitive or physical impairment. This work describes methods of performing ADL's with a mobile robotic system. We examined the needs of potential...
The planar and energetically conservative Spring-Loaded Inverted Pendulum (SLIP) model with a linear spring has been modified in recent years to include an articulated knee, friction and contact losses, and energy thrusts during stance to stabilize forward velocity and hopping height. The work presented here advances the SLIP template toward a biological anchor by adding a third parallel articulating...
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