A common issue with many commercial rehabilitative exoskeletons and orthoses are that
they can be prohibitively expensive for an average individual to afford without additional …

In this letter, we propose an electromyography (EMG)-based optimal control framework to
design physical human-robot interaction for rehabilitation and develop a novel assist-as …

In the past few decades, a variety of rehabilitation robotic exoskeletons have been
developed for patients with stroke and traumatic brain injury, which can assist therapists and …

BACKGROUND: Robot-aided sensorimotor therapy imposes highly repetitive tasks that can
translate to substantial improvement when patients remain cognitively engaged into the …

This paper presents the pediAnklebot, an impedance-controlled low-friction, backdriveable
robotic device developed at the Massachusetts Institute of Technology that trains the ankle …

This paper addresses the challenging concept of Assist-As-Needed control of exoskeleton
robots. The proposed controller boosts the voluntary participation of the patient by providing …

Robot-aided neuro-rehabilitation is a potential solution to help resolve the increasing
demand for post-stroke therapy. In this letter, we propose an assistive-resistive approach to …

In this paper, an adaptive interaction torque-based assist-as-needed (AITAAN) control
method for the lower limb rehabilitation exoskeleton is proposed. Firstly, a desired input …

This paper presents an assist-as-needed method for ankle rehabilitation based on adaptive
impedance control strategies. First, the dynamic contribution of the patient during the motion …

Sensorimotor therapy gives optimal results when patients are cognitively engaged into
highly repetitive tasks, a goal that most children find hard to pursue. This paper presents the …