3 papers
cs.RO2026
A Reconfigurable Bidirectional Cable-Driven Hip Exoskeleton with Swappable Bench/Backpack Dual-configuration Actuation
YuanLong Ji, Shuhan Xiang, Qihan Ye +1
Hip exoskeletons provide an important hardware basis for lower-limb rehabilitation and locomotor assistance. Laboratory rehabilitation assessment and system development require sub…
cs.RO2026
Design and Control of a Cable-Driven Switchable Actuator with Torque/Tension Dual Modes for Exoskeletons
YuanLong Ji, Xu Liu, Xinyuan Cai +8
Existing wearable exoskeleton architectures are typically constrained by a single mechanical output modality, providing either joint torque around an anatomical joint or linear tra…
cs.RO2025
Human Locomotion Implicit Modeling Based Real-Time Gait Phase Estimation
Yuanlong Ji, Xingbang Yang, Ruoqi Zhao +3
Gait phase estimation based on inertial measurement unit (IMU) signals facilitates precise adaptation of exoskeletons to individual gait variations. However, challenges remain in a…