Abstract: This paper presents and compares three distinct control schemes aimed at the endowment of compliant humanoid robots, with locomotion capabilities. It is demonstrated that the aforementioned ...

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Abstract: This paper introduces a virtual gravity controller for underactuated biped robots. A bio-inspired model of passive bipedal walking is used as the basis for the controller's design. An ...

Introduction: Wrist function impairment is common after stroke and heavily impacts the execution of daily tasks. Robotic therapy, and more specifically wearable exoskeletons, have the potential to ...