Oscillator-based walking assistance

A human with muscle weakness can wear a rehabilitation device, e.g. exoskeleton, to receive support during walking. How can this support be adjusted in real-time to the intention of the user? The given support should be intuitive, user-specific, compliant and robust to sensor noise. We suggest the use of an adaptive oscillator, which can detect...

Fundamentals of ergonomic exoskeleton robots

This thesis is the first to provide the fundamentals of ergonomic exoskeleton design. The fundamental theory as well as technology necessary to analyze and develop ergonomic wearable robots interacting with humans is established and validated by experiments and prototypes. The fundamentals are (1) a new theoretical framework for analyzing...