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To active rehabilitation training, Newton-Euler method is applied to build dynamic models for the powered exoskeleton and the subject. A method to extract the subject's active force is proposed combined with the models. A mechanism for measuring the human-robot coupling force is designed on that basis. Two prototype experiments are proposed, one is an on-line experiment via different mass loadings,...
Although many papers have been published on visual tracking, visual servoing of the vision-based robotics, there are only few research study on using vision to improve the standing and walking stabilization for legged robots. In this paper, we set two cameras as the humanoid's eyes, to observe a static object in front, and using the visual measured information to control the robot keeping a desired...
Body weight supported treadmill training (BWSTT) has been confirmed to be an effective gait rehabilitation therapy for patients with locomotor dysfunction of the lower limbs. Powered Gait Orthosis (PGO) is a pair of powered mechanical legs in exoskeleton structure, which can guide the patient's legs to move in a preprogrammed physiological gait pattern during BWSTT. A prototype of single-leg PGO has...
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