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This paper addresses the design of instrumented single joint and multi-joints active orthoses for musculoskeletal and neuromuscular disorder exploration and functional rehabilitation. The use of these multi-contact exoskeletons, operating a selective limb joint mobilization, allows the measurement and the control of physiological parameters (instantaneous helical axis (IHA) motion, joint motion and...
Non-verbal communications such as kinesthetics, or body language and posture are important codes used to establish and maintain interpersonal relationships. They can also be utilized for safe and efficient human robot interactions. A correct interpretation of the human activity through the analysis of certain spatio-temporal and dynamic parameters represent an outstanding benefit for the quality of...
This paper proposes a robust whole-body control formulation for biped balance in disturbed conditions by manipulation tasks. In order to include the effects of the interaction of the robot with its environment, required by the manipulation task in the balance control, we introduce a distributed preview control which captures both balance and manipulation behaviors and enables the regulation of the...
A knee-joint exoskeleton design that can apply programmable torques to the articulation and that self-adjusts to its physiological movements is described. Self-adjustment means that the articular torque is automatically produced around the rotational axis of the joint. The requirements are first discussed and the conditions under which the system tracks the spatial relative movements of the limbs...
Most of the literature reactive control laws have much difficulties to handle properly constraints such as joint limits, obstacles and saturations, including them as equalities in the Inverse Velocity Kinematics (IVK) problem. Actually, it seems relevant to handle them through inequalities, as the constraints are more numerous than the number of DOFs. However, the intuitive constraints expression...
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