5 papers
ATP: Anatomical Torque with Passivity-based Control Framework for Safe Upper-Limb Exoskeleton Assistance
Yu Chen, Gong Chen, Xiang Li
Providing assistance across diverse movements is a central objective of exoskeletons, and anatomical knowledge can enable responsive support that generalizes across tasks. However,…
A Semantic-Aware Framework for Safe and Intent-Integrative Assistance in Upper-Limb Exoskeletons
Yu Chen, Shu Miao, Chunyu Wu +3
Upper-limb exoskeletons are primarily designed to provide assistive support by accurately interpreting and responding to human intentions. In home-care scenarios, exoskeletons are…
Upper-Limb Rehabilitation with a Dual-Mode Individualized Exoskeleton Robot: A Generative-Model-Based Solution
Yu Chen, Shu Miao, Jing Ye +4
Several upper-limb exoskeleton robots have been developed for stroke rehabilitation, but their rather low level of individualized assistance typically limits their effectiveness an…
Learning to Assist Different Wearers in Multitasks: Efficient and Individualized Human-In-the-Loop Adaption Framework for Exoskeleton Robots
Yu Chen, Gong Chen, Jing Ye +3
One of the typical purposes of using lower-limb exoskeleton robots is to provide assistance to the wearer by supporting their weight and augmenting their physical capabilities acco…
Safe and Individualized Motion Planning for Upper-limb Exoskeleton Robots Using Human Demonstration and Interactive Learning
Yu Chen, Gong Chen, Jing Ye +2
A typical application of upper-limb exoskeleton robots is deployment in rehabilitation training, helping patients to regain manipulative abilities. However, as the patient is not a…