Controlling active exoskeletons for occupational assistance is a challenge. Unlike for rehabilitation exoskeletons, Electromyography (EMG) sensors can hardly be used for control in an industrial environment. The control of assistive exoskeletons needs to rely on onboard sensors to follow the human and assist when needed. This study explores the use...
Tato diplomová práce se zaměřuje na vývoj a řízení exoskeletu horní končetiny, se zvláštním důrazem na horní končetinu, její řízení a interakci mezi horní končetinou a exoskeletem. Pro ověření konceptu je horní končetina modelována v rovinně pomocí Lagrangeových rovnic druhého druhu. Bylo vybráno osm svalů, které významně přispívají k pohybu v sagi...
Published in Science & medicine in football
Investigate acute locomotor, internal (heart rate (HR) and ratings of perceived exertion (RPE)) and neuromuscular responses to using wearable resistance loading for soccer-specific training. Twenty-six footballers from a French 5th division team completed a 9-week parallel-group training intervention (intervention group: n = 14, control: n = 12). T...
Published in IEEE transactions on visualization and computer graphics
Haptic exoskeleton gloves are a widespread solution for providing force-feedback in Virtual Reality (VR), especially for 3D object manipulations. However, they are still lacking an important feature regarding in-hand haptic sensations: the palmar contact. In this paper, we present PalmEx, a novel approach which incorporates palmar force-feedback in...
In the field of robotic exoskeleton control, it is critical to accurately predict the intention of the user. While surface electromyography (EMG) holds the potential for such precision, current limitations arise from the absence of robust EMG-to-torque model calibration procedures and a universally accepted model. This paper introduces a practical ...
Exoskeleton robots have wide application in industrial field as well as for patients with locomotor disability. Among them, the exoskeleton with flexible structure, named exosuit has aroused great interest among researchers.They are usually made of soft material like cables and fabrics. Since there are no rigid frames and links in the Exosuits, the...
Cette thèse traite de méthodes de conception et de commande des systèmes robotiques. Divers critères et méthodes sont employés pour évaluer et améliorer leurs performances, notamment la consommation d’énergie. Une solution approximative novatrice a été développée pour déterminer les réactions dans les liaisons et les pertes d’énergie dans les systè...
