A5056421977- Stroke Rehabilitation and Recovery
- Prosthetics and Rehabilitation Robotics
- Teleoperation and Haptic Systems
- Muscle activation and electromyography studies
- Geophysics and Sensor Technology
- Robotic Path Planning Algorithms
- Healthcare Technology and Patient Monitoring
- Robotics and Sensor-Based Localization
- Tactile and Sensory Interactions
- Robotics and Automated Systems
- Soft Robotics and Applications
- Virtual Reality Applications and Impacts
- Space Satellite Systems and Control
- Balance, Gait, and Falls Prevention
- Space Exploration and Technology
- EEG and Brain-Computer Interfaces
Scuola Superiore Sant'Anna
2019-2024
Institute of Electrical and Electronics Engineers
2019
Gorgias Press (United States)
2019
Vrije Universiteit Brussel
2019
Mobile manipulation robots have great potential for roles in support of rescuers on disaster-response missions. Robots can operate places too dangerous humans and therefore assist accomplishing hazardous tasks while their human operators work at a safe distance. We developed system that consists the highly flexible Centauro robot suitable control interfaces, including an immersive telepresence suit support-operator controls offering different levels autonomy.
A major challenge in the design and control of exoskeletons is preservation user.s natural behavior when interacting with these machines. From this point view, one most important features transparency exoskeleton. An ideally transparent exoskeleton follows user's movements without interaction forces. This goal many algorithms proposed literature. Traditional are based on finite state machines affected by assistive torque discontinuity problems transitions between phases. State-of-the-art...
Search and rescue robotics is becoming a relevant topic in the last years growing number of robotic platforms dedicated projects evidence interest this area. In context, possibility to drive remote robot with an exoskeleton promising strategy enhance dexterity, reduce operator effort save time. However, use haptic feedback (bilateral teleoperation) may lead instability presence communication delay more complex case bimanual teleoperation where two arms can exchange energy. work, we present...
Manipulation involves both fine tactile feedback, with dynamic transients perceived by fingerpad mechanoreceptors, and kinaesthetic force involving the whole hand musculoskeletal structure. In teleoperation experiments, these fundamental aspects are usually divided between different setups at operator side: those making use of lightweight gloves optical tracking systems, oriented toward tactile-only implementing exoskeletons or grounded manipulators as haptic devices delivering feedback. At...
Using lower limb exoskeletons provides potential advantages in terms of productivity and safety associated with reduced stress. However, complex issues human–robot interactions are still open, such as the physiological effects impact on user’s subjective experience. In this work, an innovative exoskeleton, Wearable Walker, is assessed using EXPERIENCE benchmarking protocol from EUROBENCH project. The Walker a lower-limb exoskeleton that enhances human abilities, carrying loads. device uses...
Lower limbs exoskeletons provide assistance during standing, squatting, and walking.Gait dynamics, in particular, implies a change the configuration of device terms contact points, actuation, system dynamics general.In order to comfortable experience maximize performance, exoskeleton should be controlled transparently smoothly, which means, respectively, minimizing interaction forces with user jerky behavior due transitions between different configurations.A previous study showed that smooth...
The accomplishment of a successful teleoperation task requires guaranteeing system stability and transparency. Communication delay (in particular variable time delay), quantization discretization negatively affect might be overcome with Time Domain Passivity Approach (TDPA), model-free robust way to cope energy injection due communication delay. However, this method degrades the transparency worsens tracking performance, introducing in position drift error at slave side high frequency...
Using lower-limbs exoskeletons provides potential advantages in terms of productivity and safety associated with reduced stress. However, complex issues human-robot interaction are still open, such as the physiological effects impact on user's subjective experience. In this work, an innovative exoskeleton, Wearable Walker, is assessed using EXPERIENCE benchmarking protocol from EUROBENCH project. The Walker a lower-limb exoskeleton that enhances human abilities, carrying loads. device uses...
Lower Limb Exoskeletons (LLEs) are wearable robots that provide mechanical power to the user. Human-exoskeleton (HE) connections must preserve user's natural behavior during interaction, avoiding undesired forces. Therefore, numerous works focus on their minimization. Given inherent complications of repeatedly prototyping and experimentally testing a device, modeling exoskeleton its physical interaction with user emerges as valuable approach for assessing design effects. This paper proposes...
In interacting with stiff environments through teleoperated systems, time delays cause a mismatch between haptic feedback and the expected by operator. This causes artefacts in feedback, which decrease transparency, but so does filtering these artefacts. Through modelling of operator stiffness force EMG, artifacts can be selectively filtered without loss transparency. We developed several modulation techniques to bring closer force: 1) average modelled force, 2) low pass filter 3) scaling...
This work presents a description of the EXOSMOOTH project, oriented to benchmarking lower limb exoskeletons performance. In field assisted walking by powered exoskeletons, project proposes an experiment that targets two scientific questions. The first question is related effectiveness novel control strategy for smooth assistance. Current assist strategies are based on controllers switch assistance level gait segmentation provided finite state machine. proposed aims at managing phase...
Lower limbs exoskeletons provide assistance during standing, squatting, and walking. Gait dynamics, in particular, implies a change the configuration of device terms contact points, actuation, system dynamics general. In order to comfortable experience maximize performance, exoskeleton should be controlled smoothly transparent way, which means respectively, minimizing interaction forces with user jerky behavior due transitions between different configurations. A previous study showed that...
Haptic interaction often requires stabilizing controllers for safety. The Time-Domain Passivity Approach guarantees passivity (then stability) by observing and dissipating energy generated from active elements in a network. action is performed Controller, whose commanded to the physically limited robot actuators. Thus, controller should be turn order command displayable references This problem rarely taken into account literature when it is, limitation neither directly related actuator power...
This special issue presents cutting-edge humanoid robot applications in real-world scenarios to solve problems.
Mobile manipulation robots have high potential to support rescue forces in disaster-response missions. Despite the difficulties imposed by real-world scenarios, are promising perform mission tasks from a safe distance. In CENTAURO project, we developed system which consists of highly flexible Centauro robot and suitable control interfaces including an immersive tele-presence suit support-operator controls on different levels autonomy. this article, give overview final system. particular,...
This work presents a description of the EXOSMOOTH project, oriented to benchmarking lower limb exoskeletons performance. In field assisted walking by powered exoskeletons, project proposes an experiment that targets two scientific questions. The first question is related effectiveness novel control strategy for smooth assistance. Current assist strategies are based on controllers switch assistance level gait segmentation provided finite state machine. proposed aims at managing phase...
Lower limbs exoskeletons provide assistance during standing, squatting, and walking. Gait dynamics, in particular, implies a change the configuration of device terms contact points, actuation, system dynamics general. In order to comfortable experience maximize performance, exoskeleton should be controlled smoothly transparent way, which means respectively, minimizing interaction forces with user jerky behavior due transitions between different configurations. A previous study showed that...