Admittance control based robotic clinical gait training with physiological cost evaluation

Walking motion real-time detection method based on walking stick, IoT, COPOD and improved LightGBM

“…Compared with wearable motion analysis equipment, the intelligent walking stick is suitable for people with mobility difficulties. To help those people to walk safely and independently, auxiliary intelligent walking sticks with sensors and algorithms were proposed in [21][22][23][24]. In [21], an intelligent walking stick was designed, which was equipped with a multi-sensor system to detect obstacles.…”

Whole‐Body Multicontact Haptic Human–Humanoid Interaction Based on Leader–Follower Switching: A Robot Dance of the “Box Step”

“…The development of robots subject to physical interactions is one of the most challenging robotic research topics for the future robotic society. Such robots would greatly expand their applicable area, e.g., physical power assistance [1,2] ; clinical gait training for the elderly [3] ; and/or teaching amateurs dance steps. [4,5] In general, on physical humanÀrobot interaction (pHRI), robots have their own purpose (e.g., promotion of physical fitness for the elderly), whereas users also have requirements (e.g., easy walking for users).…”

“…General robots, however, only have six-axis force and torque sensors mounted on their end-effectors. [3,5,6] This fact significantly limits the areas where the contacts can be exerted. Even if torque sensors (or estimators) are mounted on all the joints, [7][8][9] the contact positions are difficult to be localized, especially with multiple contacts.…”

“…If robots are limited to manipulators and mobile robots with natural stable dynamics, the contact forces can be distributed to the joint and task spaces, where respective virtual impedances are predefined or adaptively given, without any concern on failure (e.g., such as falling). [3,7,16] Even in the case DOI: 10.1002/aisy.202100038…”

Towards the development of an intuitive teleoperation system for human support robot using a VR device

“…Our goal is to build an integrated and easy-to-use user interface by fully utilizing the mobility and sensing capabilities of HSR to achieve intuitive and natural teleoperation of the robot. Our recent related work include the development of intuitive user interfaces for neurosurgical assistive robotic devices [24], physical human-robot interaction-based assistive mobility aid [25] and robotic gait assistance [26,27] from a viewpoint of assistive robotics. Formerly, joystick-based teleoperation control was attempted to control its preceding prototype for functional evaluation of the morphology of the robot in the design process of HSR [1] and demonstration of the tasks by a human operator for action learning [7,8].…”