Learning by demonstration for motion planning of upper-limb exoskeletons

C Lauretti, F Cordella, AL Ciancio, E Trigili… - Frontiers in …, 2018 - frontiersin.org
The reference joint position of upper-limb exoskeletons is typically obtained by means of
Cartesian motion planners and inverse kinematics algorithms with the inverse Jacobian; this …

Overtwisting and coiling highly enhance strain generation of twisted string actuators

R Konda, D Bombara, J Zhang - Soft Robotics, 2023 - liebertpub.com
Twisted string actuators (TSAs) have exhibited great promise in robotic applications by
generating high translational force with low input torque. To further facilitate their robotic …

Trajectory Learning by Therapists' Demonstrations for an Upper Limb Rehabilitation Exoskeleton

B Luciani, L Roveda, F Braghin… - IEEE Robotics and …, 2023 - ieeexplore.ieee.org
In this work, we propose a method for trajectory implementation based on the Learning by
Demonstrations approach to deal with trajectory planning issues in upper-limb rehabilitation …

Design and fabrication of an assistive device for arm rehabilitation using twisted string system

R Shisheie, L Jiang, LE Banta… - 2013 IEEE International …, 2013 - ieeexplore.ieee.org
In this research the twisting cable mechanism was employed to design and develop a light
elbow assistive robot. A particular type of fishing line was experimentally tested for use as …

Modeling and control of a bidirectional twisted-string actuation for an upper arm robotic device

R Shisheie, L Jiang, L Banta… - 2015 American Control …, 2015 - ieeexplore.ieee.org
In this work a new model for the twisted string actuation (TSA) was proposed and results
were compared to the obtained data from various strings. Moreover, a wearable device was …

Design, fabrication, and control of twisted actuated robotic device

MH Cheng, L Jiang, Q Mou, S Wheeler… - 2016 American …, 2016 - ieeexplore.ieee.org
In this paper, an assistive robotic device that integrates the consideration of human motion
and algorithm of multi-axial control using a dual twisted-string actuation was designed and …

Controller synthesis for assistive robotic device using twisted-string actuation

L Jiang, R Shisheie, M Cheng… - 2015 American Control …, 2015 - ieeexplore.ieee.org
In this paper, an adaptive robust controller of assistive robotic device using a dual twisted-
string actuation devices was synthesized. With the consideration of system uncertainties …

Exploring Twisted String Actuation for Application in Soft Robotics

R Konda - 2023 - search.proquest.com
To make robots more ubiquitous, robotic structures that are compliant, lightweight, and low-
cost are desired. Soft robots, which are fabricated using compliant materials and soft …

Learning by Demonstration for Motion Planning of Upper-Limb Exoskeletons

FJ Badesa, N García Aracil, JM Catalán, L Zollo… - dspace.umh.es
The reference joint position of upper-limb exoskeletons is typically obtained by means of
Cartesian motion planners and inverse kinematics algorithms with the inverse Jacobian; this …

Patient-tailored bidirectional interfaces for rehabilitation and assistive robots

C Lauretti - 2019 - iris.unicampus.it
Bidirectional interfaces, which combine recording and stimulating systems in so-called
closed-loop devices, are the new generation of interfaces. In order to guarantee attentive …