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cs.RO2024
Deep-Learning Estimation of Weight Distribution Using Joint Kinematics for Lower-Limb Exoskeleton Control
Clément Lhoste, Emek BarıŠKüçüktabak, Lorenzo Vianello +4
In the control of lower-limb exoskeletons with feet, the phase in the gait cycle can be identified by monitoring the weight distribution at the feet. This phase information can be…
cs.RO2024
Unidirectional Human-Robot-Human Physical Interaction for Gait Training
Lorenzo Amato, Lorenzo Vianello, Emek Baris Kucuktabak +6
This work presents a novel rehabilitation framework designed for a therapist, wearing an inertial measurement unit (IMU) suit, to virtually interact with a lower-limb exoskeleton w…
cs.RO2024
Exoskeleton-Mediated Physical Human-Human Interaction for a Sit-to-Stand Rehabilitation Task
Lorenzo Vianello, Emek BarıŠKüçüktabak, Matthew Short +4
Sit-to-Stand (StS) is a fundamental daily activity that can be challenging for stroke survivors due to strength, motor control, and proprioception deficits in their lower limbs. Ex…