5 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…