IROS

Exoskeleton robots are capable of safe torque-controlled interactions with a wearer while moving their limbs through pre-defined trajectories. However, affecting and assisting the wearer's movements while incorporating their inputs (effort and movements) effectively during a…

In existing task and motion planning (TAMP) research, it is a common assumption that experts manually specify the state space for task-level planning. A well-developed state space enables the desirable distribution of limited computational resources between task planning and…

While human-robot interaction studies are becoming more common, quantification of the effects of repeated interaction with an exoskeleton remains unexplored. We draw upon existing literature in human skill assessment and present extrinsic and intrinsic performance metrics t…