Abstract Most wearable robots such as exoskeletons and prostheses can operate with dexterity, while wearers do not perceive them part of their bodies. In this perspective, we contend that integrating environmental, physiological, physical information through multi-modal fusion, incorporating human-in-the-loop control, utilizing neuromuscular interface, employing flexible electronics, acquiring processing human-robot biomechatronic chips, should all be leveraged towards building the next...

Soft exo-suit could facilitate walking assistance activities (such as level walking, upslope, and downslope) for unimpaired individuals. In this article, a novel human-in-the-loop adaptive control scheme is presented soft exo-suit, which provides ankle plantarflexion with unknown human-exosuit dynamic model parameters. First, the coupled formulated to express mathematical relationship between actuation system human joint. Then, gait detection approach, including timing planning, proposed....

This article presents U 2PNet, a novel unsupervised underwater image restoration network using polarization for improving signal-to-noise ratio and quality in imaging environments. Traditional methods require specific cues or pairs of datasets, which limit their practical applications. Our proposed method requires only one mosaicked polarized the scene does not datasets pretraining cues. We design two subnetworks (T-net B textsubscript ∞ -net) to accurately estimate transmission map...

Underwater robot technology has shown impressive results in applications such as underwater resource detection. For that require extremely high flexibility, robots cannot replace skills human dexterity yet, and thus humans are often required to directly perform most operations. Wearable (exoskeletons) have outstanding enhancing movement on land. They expected great potential enhance movement. The purpose of this survey is analyze the state-of-the-art exoskeletons for enhancement, focused...

The aim of this study was to investigate the relationship between plasma α-synuclein (α-syn) levels and cerebral blood flow in patients with Parkinson disease (PD) freezing gait (FOG). A total 120 cases PD were selected, FOG evaluated according questionnaire, a score > 3 classified as FOG. Based on evaluation results, divided into PD-FOG group (58 cases) PD-NFOG (62 cases). Cerebral parameters including velocity (CBFV) middle artery, posterior basilar phase difference, gain monitored, α-syn...

Variable stiffness mechanisms establish a bridge between rigid, precise robots and soft, compliant robots. In certain applications it is necessary to exert high forces while having compliance, such as in wearable robots, payload soft grippers, manipulators. Negative pressure based jamming approaches have been widely used tune variable stiffness. However, this variation of strength limited negative one atmospheric pressure. To enable wider range which potentially range, we proposed Positive...

Stroke often results in hemiplegia, which greatly affects the walking ability of patients. We propose a multi-functional portable ankle exoskeleton for use preventing foot-drops, assisting propulsion, and stabilizing inversion/eversion during to help gait rehabilitation stroke The was fabricated by 3D printing soft/rigid hybrid structure. device able prevent foot-drop assist propulsion with bi-directional cable-driven actuation system. It also showed capability motions using...

Foot progression angle (FPA) is vital in many disease assessment and rehabilitation applications, however previous magneto-IMU-based FPA estimation algorithms can be prone to magnetic distortion inaccuracies after walking starts turns. This paper presents a foot-worn IMU-based algorithm comprised of three key components: orientation estimation, acceleration transformation, via peak foot deceleration. Twelve healthy subjects performed two experiments evaluation IMU performance. The first...

The integration and interaction of proprioception exteroception in the human multisensory network facilitate high-level cognitive functionalities, such as cross-modal integration, recognition, imagination for accurate evaluation comprehensive understanding multimodal world. In this article, we propose a novel framework upper limb prosthesis based on type-2 fuzzy logic system (FLS), which can dexterous manipulation by combing human's surface electromyography (sEMG) with computer vision....

Rapid development in wearable electronics and systems continues to impose challenges on portable energy storage sustained over time, thus human harvesting is a potentially attractive means of sustainable, long-term energy. We introduce novel 'controlled slip' approach for capturing during locomotion. While slip normally considered undesirable, controlled holds potential enable significant amount each step gait. Custom-designed shoes were fabricated by mounting sliding plate generator with...

As the exploitation of natural gas hydrates intensifies, there is a growing imperative to enhance monitoring extraction and storage areas. However, existing methods, such as seismic detection seabed drilling technology, exhibit inherent limitations. These shortcomings primarily stem from challenges associated with conducting prolonged, in situ constrained scope exploration. Addressing these necessitates development innovative exploration methods or devices. This article introduces...

Rapid development in robotics and bionics makes it possible for robotic leg prostheses to help amputees while imposing challenges on duplicating the motion characteristics of amputees' healthy leg. One critical problem prosthetic control is joint angle drift problem, that is, a repetitive trajectory task space cannot guarantee generated trajectories are also repetitive. In order solve this article, we propose neural-dynamics optimization generate real time. Our proposed method duplicates...

Population aging has highlighted the significance of developing home-care robots to assist human life. However, traditional work according fixed procedures, which lack human–robot interaction mimic hand action. Human–robot interfaces provide an opportunity for interactions between and users, play important role in robots. Traditional are based on rigid, cumbersome, high-priced machines, prevent their wide application performing tasks. An e-skin sensor with 11 stretchable resistors evenly...

Gaze object prediction aims to predict the location and category of that is watched by a human. Previous gaze works use CNN-based detectors object's location. However, we find Transformer-based can more accurate for dense objects in retail scenarios. Moreover, long-distance modeling capability Transformer help build relationships between human head object, which important GOP task. To this end, paper introduces into fields proposes an end-to-end method named TransGOP. Specifically, TransGOP...

The enhancement of underwater images has emerged as a significant technological challenge in advancing marine research and exploration tasks. Due to the scattering suspended particles absorption light environments, tend present blurriness predominantly color distortion. In this study, we propose novel approach utilizing denoising diffusion models improve degraded images. After training noise estimation network models, accelerate deterministic sampling process with implicit models. We also...

Many previous studies of soft exosuits improved human locomotion performance. However, there is no example to control a exosuit using ankle impedance adaption in assistance tasks compliantly. In this article, the human–environment interaction information exploited into control. A novel fuzzy-based optimization and method proposed provide plantarflexion for walking by changing human–robot interaction. particular, fuzzy neurodynamics developed learn unknown parameters automatically....

Foot progression angle gait (FPA) modification is an important part of rehabilitation for a variety neuromuscular and musculoskeletal diseases. While wearable haptic biofeedback could enable FPA more widespread use than traditional tethered, laboratory-based approaches, retention, cognitive demand in via are currently unknown may be to real-life implementation. Thus, the purpose this study was assess feasibility short-term retention during modification. Ten healthy participants performed...