Assistive Robotics/Power Augmentation

Assistive

Exoskeletons are wearable robotic devices that are used for human body power augmentation or rehabilitation. Such mechanisms could prove indispensable in addressing problems of injuries and growing elderly population. As the exoskeleton is attached to the human body, it is imperative that appropriate control methods and human-robot interfaces are developed to enable coordinated motion and assistance in the complex daily tasks. The main objective in this research line is the development of appropriate control strategies to facilitate the interaction between the human, the power augmentation/assistive device and the environment.

The research activity in this area will explore the use of bio-signals such as EMG and EEG for control of the prosthetic/power augmentation devices. In this direction, a shared level of autonomy between the user intention and device controller will be implemented that will potentially result in a desired interaction performance. In addition, HRI2 aim at developing novel power augmentation devices, therefore, we highly encourage applications for hardware developments as well.

References

  1. A. Ajoudani, S.B. Godfrey, M. Catalano, M. Bianchi, G. Grioli, N. Tsagarakis and A. Bicchi, "Exploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa-IIT SoftHand", IEEE Transactions on Haptics, Special Issue on Haptics in Rehabilitation and Neural Engineering, 7(2):203-15, 2014.
  2. N. Karavas, A. Ajoudani, N. Tsagarakis, J. Saglia, A. Bicchi and D. Caldwell, "Tele-Impedance based Assistive Control for a Compliant Knee Exoskeleton: Stiffness Augmentation and Motion Assistance", Robotics and Autonomous Systems, 2014.