All Outputs (7)

A machine learning model for predicting sit-to-stand trajectories of people with and without stroke: towards adaptive robotic assistance (2022)
Journal Article
Bennett, T., Kumar, P., & Ruiz Garate, V. R. (2022). A machine learning model for predicting sit-to-stand trajectories of people with and without stroke: towards adaptive robotic assistance. Sensors, 22(13), https://doi.org/10.3390/s22134789

Sit-to-stand and stand-to-sit transfers are fundamental daily motions that enable all other types of ambulation and gait. However, the ability to perform these motions can be severely impaired by different factors, such as the occurrence of a stroke,... Read More about A machine learning model for predicting sit-to-stand trajectories of people with and without stroke: towards adaptive robotic assistance.

An approach to object-level stiffness regulation of hand-arm systems subject to under-actuation constraints (2020)
Journal Article
Ruiz Garate, V., & Ajoudani, A. (2020). An approach to object-level stiffness regulation of hand-arm systems subject to under-actuation constraints. Autonomous Robots, 44(8), 1505-1517. https://doi.org/10.1007/s10514-020-09942-9

When using a tool with a robotic hand-arm system, the stiffness at the grasped object plays a key role in the interaction with the environment, allowing the successful execution of the task. However, the rapidly increasing use of under-actuated hands... Read More about An approach to object-level stiffness regulation of hand-arm systems subject to under-actuation constraints.

A bio-inspired grasp stiffness control for robotic hands (2018)
Journal Article
Ruiz Garate, V., Pozzi, M., Prattichizzo, D., & Ajoudani, A. (2018). A bio-inspired grasp stiffness control for robotic hands. Frontiers in Robotics and AI, 5, Article 89. https://doi.org/10.3389/frobt.2018.00089

This work presents a bio-inspired grasp stiffness control for robotic hands based on the concepts of Common Mode Stiffness (CMS) and Configuration Dependent Stiffness (CDS). Using an ellipsoid representation of the desired grasp stiffness, the algori... Read More about A bio-inspired grasp stiffness control for robotic hands.

Grasp stiffness control in robotic hands through coordinated optimization of pose and joint stiffness (2018)
Journal Article
Ruiz Garate, V., Pozzi, M., Prattichizzo, D., Tsagarakis, N., & Ajoudani, A. (2018). Grasp stiffness control in robotic hands through coordinated optimization of pose and joint stiffness. IEEE Robotics and Automation Letters, 3(4), 3952-3959. https://doi.org/10.1109/lra.2018.2858271

This letter presents a novel controller for robotic hands, which regulates the grasp stiffness by manipulating the pose and the finger joint stiffness of hands with multiple degrees of freedom while guaranteeing grasp stability. The proposed approach... Read More about Grasp stiffness control in robotic hands through coordinated optimization of pose and joint stiffness.

Experimental validation of motor primitive-based control for leg exoskeletons during continuous multi-locomotion tasks (2017)
Journal Article
Ruiz Garate, V., Parri, A., Yan, T., Munih, M., Lova, R. M., Vitiello, N., & Ronsse, R. (2017). Experimental validation of motor primitive-based control for leg exoskeletons during continuous multi-locomotion tasks. Frontiers in Neurorobotics, 11, Article 15. https://doi.org/10.3389/fnbot.2017.00015

An emerging approach to design locomotion assistive devices deals with reproducing desirable biological principles of human locomotion. In this paper, we present a bio-inspired controller for locomotion assistive devices based on the concept of motor... Read More about Experimental validation of motor primitive-based control for leg exoskeletons during continuous multi-locomotion tasks.

An oscillator-based smooth real-time estimate of gait phase for wearable robotics (2016)
Journal Article
Yan, T., Parri, A., Ruiz Garate, V., Cempini, M., Ronsse, R., & Vitiello, N. (2017). An oscillator-based smooth real-time estimate of gait phase for wearable robotics. Autonomous Robots, 41(3), 759-774. https://doi.org/10.1007/s10514-016-9566-0

This paper presents a novel methodology for estimating the gait phase of human walking through a simple sensory apparatus. Three subsystems are combined: a primary phase estimator based on adaptive oscillators, a desired gait event detector and a pha... Read More about An oscillator-based smooth real-time estimate of gait phase for wearable robotics.

Walking assistance using artificial primitives: A novel bioinspired framework using motor primitives for locomotion assistance through a wearable cooperative exoskeleton (2016)
Journal Article
Ruiz Garate, V., Parri, A., Yan, T., Munih, M., Molino Lova, R., Vitiello, N., & Ronsse, R. (2016). Walking assistance using artificial primitives: A novel bioinspired framework using motor primitives for locomotion assistance through a wearable cooperative exoskeleton. IEEE Robotics and Automation Magazine, 23(1), 83-95. https://doi.org/10.1109/MRA.2015.2510778

Bioinspiration in robotics deals with applying biological principles to the design of better performing devices. In this article, we propose a novel bioinspired framework using motor primitives for locomotion assistance through a wearable cooperative... Read More about Walking assistance using artificial primitives: A novel bioinspired framework using motor primitives for locomotion assistance through a wearable cooperative exoskeleton.