7 papers
Friction Characterization of a Cable-Driven Differential Actuation System for Lower-Limb Exoskeletons
Alberto Maria Nobili, Fabio Salsedo, Alessandro Filippeschi
Lower-limb exoskeletons require actuation systems that can provide accurate joint torque control while preserving low mass and encumbrance. Conventional architectures often rely on…
Optimal Prioritized Dissipation and Closed-Form Damping Limitation under Actuator Constraints for Haptic Interfaces
Camilla Celli, Andrea Bini, Valerio Novelli +3
In haptics, guaranteeing stability is essential to ensure safe interaction with remote or virtual environments. One of the most relevant methods at the state-of-the-art is the Time…
Human Body Segment Volume Estimation with Two RGB-D Cameras
Giulia Bassani, Emilio Maoddi, Usman Asghar +2
In the field of human biometry, accurately estimating the volume of the whole body and its individual segments is of fundamental importance. Such measurements support a wide range…
Transparency evaluation for the Kinematic Design of the Harnesses through Human-Exoskeleton Interaction Modeling
Riccardo Bezzini, Carlo Alberto Avizzano, Francesco Porcini +1
Lower Limb Exoskeletons (LLEs) are wearable robots that provide mechanical power to the user. Human-exoskeleton (HE) connections must preserve the user's natural behavior during th…
User-centered evaluation of the Wearable Walker lower limb exoskeleton, preliminary assessment based on the Experience protocol
Cristian Camardella, Vittorio Lippi, Francesco Porcini +7
Using lower-limbs exoskeletons provides potential advantages in terms of productivity and safety associated with reduced stress. However, complex issues in human-robot interaction…
EXOSMOOTH: Test of Innovative EXOskeleton Control for SMOOTH Assistance, With and Without Ankle Actuation
Vittorio Lippi, Alessandro Filippeschi, Cristian Camardella +3
This work presents a description of the EXOSMOOTH project, oriented to the benchmarking of lower limb exoskeletons performance. In the field of assisted walking by powered lower li…
Identification of Gait Phases with Neural Networks for Smooth Transparent Control of a Lower Limb Exoskeleton
Vittorio Lippi, Cristian Camardella, Alessandro Filippeschi +1
Lower limbs exoskeletons provide assistance during standing, squatting, and walking. Gait dynamics, in particular, implies a change in the configuration of the device in terms of c…