Browsing Mechanical Engineering by Author "Delgado, Pablo"
Now showing items 1-7 of 7
-
Assessment of task and joint-based exoskeleton designs for elbow joint rehabilitation
Delgado, Pablo; Jaradat, Lieth; Yihun, Yimesker S. (American Society of Mechanical Engineers, 2022-04-28)Exoskeletons and robots have been used as a common practice to assist and automate rehabilitation exercises. Exoskeleton fitting and alignments are important factors and challenges that need to be addressed for smooth and ... -
Design of bio-exoskeleton for elbow rehabilitation
Delgado, Pablo; Don, Thisath Attampola Arachchige; Gomez, Jesus; Miranda, Virgil; Yihun, Yimesker S. (American Society of Mechanical Engineers, 2020-05-11)In this study, a methodology for designing a task-based exoskeleton which can recreate the end-effector trajectory of a given limb during a rehablitation task/movement is presented. The exoskeleton provides an option to ... -
Human-exoskeleton joint coordination assessment: A case study on the shoulder and elbow joints
Delgado, Pablo; Rincon, Clarissa; Yihun, Yimesker S. (Springer, 2022-07-12)This study is aimed at developing a methodology to assess and quantify the human limb motions and interactions with the exoskeleton in relation to alignment. Three different basic and common upper arm joint movements and ... -
Integration of EMG-based learning and sliding mode control for an exoskeleton assist-as-needed support system
Delgado, Pablo; Gonzalez, Nathan; Yihun, Yimesker S. (ASME, 2022-08-14)In this study, an electromyography (EMG) signal-based learning is integrated with a Sliding-Mode Control (SMC) law for an effective human-exoskeleton synergy. A modified Recursive Newton-Euler Algorithm (RNEA) with SMC was ... -
Integration of instance-based learning and computed torque control for an effective assist-as-needed support in human-exoskeleton interaction
Delgado, Pablo; Yihun, Yimesker S.; Vangsness, Lisa; He, Hongsheng (Association for Industry, Engineering and Management Systems (AIEMS), 2022-12)The physiological responses that arise from human-robot interaction may vary across subjects in magnitude and rate. Such individual variations may require instance-based learning over model-based learning algorithms. For ... -
Integration of task-based exoskeleton with an assist-as-needed algorithm for patient-centered elbow rehabilitation
Delgado, Pablo; Yihun, Yimesker (MDPI, 2023-02-23)This research presents an Assist-as-Needed (AAN) Algorithm for controlling a bio-inspired exoskeleton, specifically designed to aid in elbow-rehabilitation exercises. The algorithm is based on a Force Sensitive Resistor ... -
Shoulder kinematics assessment towards exoskeleton development
Delgado, Pablo; Alekhya, Sajja; MajidiRad, Amir Hossein; Desai, Jaydip M.; Yihun, Yimesker S. (MDPI AG, 2020-08-11)Neuromuscular and sensorimotor degeneration caused by stroke or any other disease significantly reduce the physical, cognitive, and social well-being across the life span. Mostly, therapeutic interventions are employed in ...