Abstract: Torque control of small-scale robotic devices such as hand exoskeletons is challenging due to the unavailability of miniature and compact bidirectional torque actuators. In this work, we present a miniature Bowden-cable-based ...

Abstract: Many robotic applications need an accurate, robust, and fast estimation of finger pose. We present a novel finger pose estimation method using a motion capture system. The method combines a system identification stage and ...

Abstract: A number of robotic exoskeletons are being developed to provide rehabilitation interventions for those with movement disabilities. We present a systematic framework that allows for virtual prototyping (i.e., design, control, ...