Abstract: Realizing an ideal impedance control system in lower extremity rehabilitation systems is challenged by mechanical impedance of robot hardware. Although many researchers in Robotics and Control ...

Abstract: Input saturation is a well-known nonlinearity in mechanical control systems; it constrains the maximum acceleration, which results in the limitation of the system response time. Input saturation ...

Abstract: Actuators for physical human-robot interaction (pHRI) such as rehabilitation or assistive systems should generate the desired torque precisely. However, the resistive and inertia loads inherent in ...

Abstract: This paper introduces a robotic biopsy device for capsule endoscopes. The proposed device consists of three modules for the complete process of biopsy, which includes monitoring the intestinal ...

Abstract: Conventional gait rehabilitation treatment does not provide quantitative information on abnormal gait kinematics, and the match of the intervention strategy to the underlying clinical presentation ...