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Robotic therapy for rehabilitation of the lower extremity is currently in its early stage of development. Aiming at exploring an efficacious intervention for gait rehabilitation, we investigate the characteristics of an end-effector gait-training device that combines saddle-seat-type body-weight-supported treadmill training with functional electrical stimulation (FES). This is a task-oriented approach...
A practical method for exploiting the neuromuscular coordination in a human arm posture to control a musculoskeletal robotic arm is proposed. The method enables the low-dimensional control of multiple muscles in the arm robot without considering the differences in the size and force balance between the human and artificial muscles. The central idea is based on the assumption that the equilibrium point...
Developing a musculoskeletal robot with multiple muscles is important for not only establishing a novel robot that achieves coordination with a human but also in understanding the framework of motor control in the human body. Our pioneering work proposed a biologically inspired control framework for multiple redundant muscles; however, very few practical results have been reported on controlling a...
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