A robot and a controlling method thereof are provided. The robot includes a memory configured to store at least one instruction; and at least one processor configured to execute the at least one instruction to: based on detecting a user interaction, acquire information on a behavior tree corresponding to the user interaction, and perform an action corresponding to the user interaction based on the information on the behavior tree, wherein the behavior tree includes a node for controlling a dialogue flow between the robot and a user.

An exoskeleton system includes a first exoskeleton unit configured to support a first body part, a second exoskeleton unit configured to support a second body part, and a control device. The first exoskeleton unit and the second exoskeleton unit are mechanically decoupled from each other. The control device is configured to control, based on a control model, at least one of the first exoskeleton unit and the second exoskeleton unit. The control model is based on a multibody system that models the first exoskeleton unit, the second exoskeleton unit, and at least one of the first body part and the second body part.

An embodiment rehabilitation robot control apparatus includes a brainwave signal measuring device configured to measure a brainwave signal of a user, a preprocessing device configured to preprocess the measured brainwave signal, a classification device configured to classify a motor intention of the user based on the brainwave signal preprocessed by the preprocessing device, and a controller configured to reflect the motor intention of the user in real time to control an operation or a stop of a rehabilitation robot.

A method for controlling a robot (1) for handling a part to be handled (14), the handling robot (1) being linked to a control interface comprising a glove (40) comprising a first finger (41) provided with a first contact sensor (42) and a second finger (43) provided with a second contact sensor (44), the method comprising the following steps; a) associating, in a signal library (25), a first and a second recorded combination of signals (26, 21); b) acquiring a combination of signals originating from the sensors (26, 27) of the glove (40); c) comparing the acquired combination of signals with the recorded combinations (27, 28, 29) in the library (25); d) controlling the handling robot (1) in such a way as to perform a movement according to the velocity vector associated with the acquired combination of signals. A handling glove (40) and handling device implementing the method.

Examples of a motion guiding device of a target joint of a target body are disclosed. The device allows three degree-of-freedom (DOF) motion about a remote center of rotation that is approximately aligned to a center of rotation of the target joint. The device comprises a base adjustably connected to the target body and three rotary joints interconnected with a network of linkages. One end of the network of linkages is connected to the base and the opposite end to an effector plate. At least one of the three rotary joints is not aligned with an axes of motion of the target joint and any of these rotary joints may be positioned under angle with respect to the others. Each of the rotary joints provides one DOF of rotary motion about the respective axes and each axis of the three rotary joints intersect at the remote center of rotation. The geometry of the network of linkages is adjustable to adjust a position of the remote center of rotation in three dimensions. The three rotary joints and the network of linkages rotate the effector plate about the remote center of rotation that is approximately align with the center of rotation of the target joint. This system may be connected with one or more parallel branches for additional actuation.

A hip assist actuation system is configured to allow a user to experience free movement of hip extension and hip flexion over a predetermined range and receive a torque assist in response to performing a lifting or pushing activity. The hip assist actuation system may be configured to determine whether the lifting or pushing activity is occurring and provide the torque assist in response to the determination.

A wearable system includes an exosuit or exoskeleton; an actuator(s) configured to generate force in the exosuit or exoskeleton; a sensor(s) configured to measure information for evaluating an objective function associated with providing physical assistance to the wearer, an interaction between the wearer and the exosuit or exoskeleton, and/or an operation of the exosuit or exoskeleton; and a controller(s) configured to: actuate the actuator(s) according to an actuation profile(s), evaluate the objective function based on the information measured by the at least one sensor to determine a resulting change in the objective function, adjust a parameter(s) of the actuation profile(s) based on the resulting change in the objective function, and continue to actuate, evaluate, and adjust to optimize the actuation parameter(s) for maximizing or minimizing the objective function. Wearable systems configured to assist or promote an improvement in the wearer's gait and optimized using a gradient descent or Bayesian approach.

A control method for controlling an actuator (11) connected to a load (50) for handling, the method comprising the steps of: detecting an intention to handle the load (50); applying an increasing command to the actuator (11) until detecting a movement of the actuator (11); storing the value reached by the command when a movement of the actuator (11) is detected; using the stored value reached by the command to determine an estimate of the opposing force exerted by the load (50) for handling; and controlling the actuator by means of a force servocontrol relationship using the estimate of the opposing force exerted by the load (50) for handling in order to establish the commands to be applied to the actuator (11).

A cobot (1) arranged to perform the method.

A force applying auxiliary device and a control method thereof are provided. The force applying auxiliary device includes a sensor group, a processor, and a force applying driver. The sensor group includes a first sensor disposed on a first side and a second sensor disposed on a second side. The processor collects motion posture data of a user according to the first sensor and the second sensor, and determines whether a motion of the user is abnormal. When determining that the motion of the user is abnormal, the processor selects at least one preset abnormal pattern as a specific abnormal pattern according to the motion posture data, and controls the force applying driver to provide a force by using the specific abnormal pattern. A force difference between first and second forces applied to first and second side feet is adjusted based on a difference in sampling values between the sensors.

In one embodiment, the exoskeleton structure is fastened to the body of the user by a brace and at the foot level. The exoskeleton includes at least one set of three joints corresponding to the hip abduction/adduction, the hip flexion/extension and the knee flexion/extension, wherein the architecture of the exoskeleton is compatible with a set of different removable, adaptable and backdrivable actuation units dedicated to each joints and remotely located around the trunk of the user to decrease inertia and mass on the distal segments, wherein each joint can be modularily let free, constrained by a visco-elastic mechanism or actuated by one corresponding actuation unit.