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We present an observer design for linear time-invariant systems with unilateral constraints using only the time information of the impacts. The approach presented in [4] is extended with switched geometric bilateral constraints. These constraints introduce position jumps which improve the synchronization rate and extend the applicability of the observer to systems with a rigid body mode.
In this paper we present a soft lower-extremity robotic exosuit intended to augment normal muscle function in healthy individuals. Compared to previous exoskeletons, the device is ultra-lightweight, resulting in low mechanical impedance and inertia. The exosuit has custom McKibben style pneumatic actuators that can assist the hip, knee and ankle. The actuators attach to the exosuit through a network...
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