This article features a novel sliding mode controller for robotic arms using nonlinear model-
based switching functions. The new controller is experimentally validated on a 7-DOF …

Several studies demonstrate the importance of an early, constant and intensive
rehabilitation following cerebral accidents. This kind of therapy is an expensive procedure in …

The science and technology of wearable robots are steadily advancing, and the use of such
robots in our everyday life appears to be within reach. Nevertheless, widespread adoption of …

In this paper it is shown how variation of the kinematic structure of an exoskeleton and
variation of its fixation strength on the human limb influences objective task performance …

We present a passive fluid transmission based on antagonist pairs of rolling diaphragm
cylinders. The transmission fluid working volume is completely sealed, forming a closed …

This project outlines the design of an innovative wearable wrist orthosis which potentially
can be used for rehabilitation therapy and for assisting with daily tasks. The orthosis uses …

It is a common hypothesis in the field of robot-assisted gait rehabilitation that the active
involvement and voluntary participation of neurologically impaired subjects in the robotic …

During the last two decades, a large variety of upper limb exoskeletons have been
developed. Out of these, majority are platform based systems which might be the reason for …

OBJECTIVE: To review the state of the art of robotic-aided hand physiotherapy for post-
stroke rehabilitation, including the use of brain-machine interfaces. Each patient has a …

This paper proposes a real-time balance control technique that can be implemented to
bipedal robots (exoskeletons, humanoids) whose ankle joints are powered via variable …