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Proceedings Papers

On the Prediction of Tremor Dynamics Motion Using Neural Network

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Zijian Ding, Oumar Barry
Proc. ASME. IDETC-CIE2024, Volume 2B: 44th Computers and Information in Engineering Conference (CIE), V02BT02A041, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143313
https://doi.org/10.1115/DETC2024-143313
View Paper titled, On the Prediction of Tremor Dynamics Motion Using Neural Network
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Topics: Artificial neural networks, Dynamics (Mechanics), Exoskeleton devices, Path planning, Convolutional neural networks, Electromyography, Filters, Sensors
Proceedings Papers

Exploring Deep Learning Models for Pathological Tremors Prediction Using EMG and Kinematic Measurements

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Subham Samal, Oumar Barry
Proc. ASME. IDETC-CIE2024, Volume 2B: 44th Computers and Information in Engineering Conference (CIE), V02BT02A046, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-146284
https://doi.org/10.1115/DETC2024-146284
View Paper titled, Exploring Deep Learning Models for Pathological Tremors Prediction Using EMG and Kinematic Measurements
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Topics: Deep learning, Electromyography, Kinematics, Convolutional neural networks, Signals, Modeling, Architecture, Artificial neural networks, Brain, Delays
Proceedings Papers

An Affordable Hip Exoskeleton for Assistance and Rehabilitation: Design, Analysis, and Fabrication

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Dhurba Shrestha, Mojtaba Sharifi
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A031, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143815
https://doi.org/10.1115/DETC2024-143815
View Paper titled, An Affordable Hip Exoskeleton for Assistance and Rehabilitation: Design, Analysis, and Fabrication
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Topics: Design, Exoskeleton devices, Manufacturing, Actuators, Batteries, Carbon fibers, Degrees of freedom, Electronics, Engines, Finite element analysis
Proceedings Papers

Optimal Control of Spine and Shoulder Powered Exoskeletons for Squat Lifting

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Asif Arefeen, Yujiang Xiang
Proc. ASME. IDETC-CIE2023, Volume 2: 43rd Computers and Information in Engineering Conference (CIE), V002T02A066, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114984
https://doi.org/10.1115/DETC2023-114984
View Paper titled, Optimal Control of Spine and Shoulder Powered Exoskeletons for Squat Lifting
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Topics: Exoskeleton devices, Optimal control
Proceedings Papers

Optimal Swing Assistance Using a Hip Exoskeleton: Comparing Simulations With Hardware Implementation

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Salvador Echeveste, Ernesto Hernandez Hinojosa
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A074, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-117126
https://doi.org/10.1115/DETC2023-117126
View Paper titled, Optimal Swing Assistance Using a Hip Exoskeleton: Comparing Simulations With Hardware Implementation
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Topics: Exoskeleton devices, Hardware, Simulation
Proceedings Papers

A Novel Slack Tolerant, Sliding Pulley Differential Mechanism for Adaptive Grasping

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Vitthal Khatik, Anupam Saxena
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A071, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115115
https://doi.org/10.1115/DETC2023-115115
View Paper titled, A Novel Slack Tolerant, Sliding Pulley Differential Mechanism for Adaptive Grasping
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Topics: Artificial limbs, Exoskeleton devices, Grasping, Pulleys, String, Actuators, Arches, Degrees of freedom, End effectors, Rotation
Proceedings Papers

Robotic Exoskeleton Glove System Design and Simulation for Patients With Brachial Plexus Injuries

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Wenda Xu, Yunfei Guo, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A070, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114907
https://doi.org/10.1115/DETC2023-114907
View Paper titled, Robotic Exoskeleton Glove System Design and Simulation for Patients With Brachial Plexus Injuries
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Topics: Design, Exoskeleton devices, Robotics, Simulation, Wounds, Degrees of freedom, Control algorithms, Control systems, Electronics, Machinery
Proceedings Papers

Preliminary Development of a Robotic Hip-Knee Exoskeleton With 3D-Printed Backdrivable Actuators

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Alyssia Sanchez, Trent Rossos, Alex Mihailidis, Brokoslaw Laschowski
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A072, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116406
https://doi.org/10.1115/DETC2023-116406
View Paper titled, Preliminary Development of a Robotic Hip-Knee Exoskeleton With 3D-Printed Backdrivable Actuators
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Topics: Actuators, Additive manufacturing, Design, Exoskeleton devices, Knee, Robotics, Robots
Proceedings Papers

Assessments and Evaluation Methods for Upper Limb Exoskeleton - a Literature Survey

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Seunghun Lee, Yujiang Xiang, Ting Xia, James Yang
Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A021, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-88968
https://doi.org/10.1115/DETC2022-88968
View Paper titled, Assessments and Evaluation Methods for Upper Limb Exoskeleton - a Literature Survey
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Topics: Evaluation methods, Exoskeleton devices
Proceedings Papers

Design and Modeling of a Biomimetic Robotic Wrist via Hybrid Mechanism

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Mohammed El Kihal, Jiamin Wang, Oumar Barry
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A049, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89937
https://doi.org/10.1115/DETC2022-89937
View Paper titled, Design and Modeling of a Biomimetic Robotic Wrist via Hybrid Mechanism
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Topics: Biomimetics, Design, Modeling, Robotics, Actuators, Computer simulation, Control equipment, Degrees of freedom, Exoskeleton devices, Kinematics
Proceedings Papers

Kinematics of an Origami Inspired Millipede Robot

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Chenying Liu, Zhong You, Perla Maiolino
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A062, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-88998
https://doi.org/10.1115/DETC2022-88998
View Paper titled, Kinematics of an Origami Inspired Millipede Robot
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Topics: Kinematics, Origami-inspired design, Robots, Design, Manufacturing, Biomimetics, Chain, Degrees of freedom, Exoskeleton devices, Kinematic analysis
Proceedings Papers

Design, Analysis, and Prototyping of a Novel Single Degree-of-Freedom Index Finger Exoskeleton Mechanism

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Wenda Xu, Yujiong Liu, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A047, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89625
https://doi.org/10.1115/DETC2022-89625
View Paper titled, Design, Analysis, and Prototyping of a Novel Single Degree-of-Freedom Index Finger Exoskeleton Mechanism
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Topics: Degrees of freedom, Design, Exoskeleton devices, Engineering prototypes, Grasping, Mechanical admittance, Optimization, Robotics, Sensitivity analysis, Wounds
Proceedings Papers

Integration of EMG-Based Learning and Sliding Mode Control for an Exoskeleton Assist-as-Needed Support System

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Pablo Delgado, Nathan Gonzalez, Yimesker Yihun
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A034, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-91305
https://doi.org/10.1115/DETC2022-91305
View Paper titled, Integration of EMG-Based Learning and Sliding Mode Control for an Exoskeleton Assist-as-Needed Support System
Open the PDF for Integration of EMG-Based Learning and Sliding Mode Control for an Exoskeleton Assist-as-Needed Support System in another window
Topics: Electromyography, Exoskeleton devices, Sliding mode control, Muscle, Signals, Torque, Algorithms, Degrees of freedom, Dynamics (Mechanics), Engineering simulation
Proceedings Papers

Optimized Torque Assistance During Walking With an Idealized Hip Exoskeleton

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Neethan Ratnakumar, Xianlian Zhou
Proc. ASME. IDETC-CIE2021, Volume 2: 41st Computers and Information in Engineering Conference (CIE), V002T02A009, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71376
https://doi.org/10.1115/DETC2021-71376
View Paper titled, Optimized Torque Assistance During Walking With an Idealized Hip Exoskeleton
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Topics: Exoskeleton devices, Torque
Proceedings Papers

Myoelectric Control of Robotic Leg Prostheses and Exoskeletons: A Review

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Ali Nasr, Brokoslaw Laschowski, John McPhee
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A043, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69203
https://doi.org/10.1115/DETC2021-69203
View Paper titled, Myoelectric Control of Robotic Leg Prostheses and Exoskeletons: A Review
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Topics: Exoskeleton devices, Prostheses, Robotics, Electromyography, Actuators, Algorithms, Control equipment, Control systems, Signals, Adaptive control
Proceedings Papers

Development and Characterization of a Modular Soft Actuator Enabled Elbow Exoskeleton for Assistive Movements

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Veysel Erel, Inderjeet Singh, Alexandra R. Lindsay, W. Y. Shi, Muthu B. J. Wijesundara
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A046, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71549
https://doi.org/10.1115/DETC2021-71549
View Paper titled, Development and Characterization of a Modular Soft Actuator Enabled Elbow Exoskeleton for Assistive Movements
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Topics: Actuators, Exoskeleton devices, Robotics
Proceedings Papers

Application of a Customized Optical Force Sensor to a Cable-Driven Leg Exoskeleton

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Jiaxu Huang, Rand Hidayah, Sunil Agrawal, Jorge A. Diez, Nicolas García-Aracil
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A044, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69353
https://doi.org/10.1115/DETC2021-69353
View Paper titled, Application of a Customized Optical Force Sensor to a Cable-Driven Leg Exoskeleton
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Topics: Cables, Exoskeleton devices, Force sensors, Sensors, Calibration, Control equipment, Dynamic testing (Materials), Errors, Manufacturing, Robotics
Proceedings Papers

Fourier Analysis Guided Cable Actuator Design for Coordinated Walking Assistance

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Chong Liu, Rand Hidayah, Sunil Agrawal
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A040, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-67808
https://doi.org/10.1115/DETC2021-67808
View Paper titled, Fourier Analysis Guided Cable Actuator Design for Coordinated Walking Assistance
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Topics: Actuators, Cables, Design, Fourier analysis, Exoskeleton devices, Motors, Degrees of freedom, Engineering prototypes, Curve fitting, Feedback
Proceedings Papers

Corrugated Diaphragm Actuator for Soft Robotic and Exoskeleton Applications

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Veysel Erel, Alexandra R. Lindsay, Inderjeet Singh, Muthu B. J. Wijesundara
Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A007, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71544
https://doi.org/10.1115/DETC2021-71544
View Paper titled, Corrugated Diaphragm Actuator for Soft Robotic and Exoskeleton Applications
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Topics: Actuators, Diaphragms (Mechanical devices), Diaphragms (Structural), Exoskeleton devices, Robotics
Proceedings Papers

Towards Transparent Motion Planning of Wearable Rehabilitation Exoskeletons via Model-Based Estimation

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Jiamin Wang, David Blankenship, Oumar Barry
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A030, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70011
https://doi.org/10.1115/DETC2021-70011
View Paper titled, Towards Transparent Motion Planning of Wearable Rehabilitation Exoskeletons via Model-Based Estimation
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Topics: Exoskeleton devices, Path planning, Transparency, Algorithms, Delays, Optimization, Signals, Stress, Control equipment, Design