Natural-language dialog is key for an intuitive human–robot interaction. It can be used not
only to express humans' intents but also to communicate instructions for improvement if a …

Recent advances in task planning leverage Large Language Models (LLMs) to improve
generalizability by combining such models with classical planning algorithms to address …

Cranes are widely employed for transportation in many industrial fields. However, strong
couplings and high nonlinearities increase difficulty of designing effective control methods …

This paper presents a novel cable-driven exoskeleton (BiEXO) for the upper limb including
shoulder and elbow joints. BiEXO is made of carbon fiber that is inspired by the Bamboo …

Exoskeletons have garnered significant attention in recent years, particularly in rehabilitation
and assistive technology, due to their potential to aid people with motor disabilities in their …

Bowden cables serve as essential components in various mechanical systems, facilitating
power transmission from remote actuators to specific destinations. The pretension of …

Cable-driven exoskeletons play a significant role in poststroke rehabilitation. Since cables
can only pull but not push, conventional parallel cable-driven exoskeletons are usually over …

Force and motion transmission losses can significantly affect the kinematics and
performance of wire-actuated robots. In addition to degrading the kinematic model, they can …

In cable-driven continuum manipulator (CDCM) systems, the driving hysteresis effect due to
non-smooth friction significantly affects motion control. In this paper, a quasi-static model of a …

While designing rehabilitation exoskeletons is often realised based on experience and
intuition, many processes can be computer-aided. This gives the opportunity to design …