REST: Reconfigurable lower limb Exoskeleton for effective Stroke Treatment in residential settings
Lead Research Organisation:
King's College London
Department Name: Informatics
Abstract
Abstracts are not currently available in GtR for all funded research. This is normally because the abstract was not required at the time of proposal submission, but may be because it included sensitive information such as personal details.
Publications
Song Y
(2020)
Instantaneous mobility analysis using the twist space intersection approach for parallel mechanisms
in Mechanism and Machine Theory
Wang S
(2021)
Kinetostatic backflip strategy for self-recovery of quadruped robots with the selected rotation axis
in Robotica
Wei J
(2020)
Lie Group Based Type Synthesis Using Transformation Configuration Space for Reconfigurable Parallel Mechanisms With Bifurcation Between Spherical Motion and Planar Motion
in Journal of Mechanical Design
Spyrakos-Papastavridis E
(2021)
Minimally Model-Based Trajectory Tracking and Variable Impedance Control of Flexible-Joint Robots
in IEEE Transactions on Industrial Electronics
Wang T
(2022)
Novel Design of a Rotation Center Auto-Matched Ankle Rehabilitation Exoskeleton With Decoupled Control Capacity
in Journal of Mechanical Design
Spyrakos-Papastavridis E
(2022)
Power-Shaping Model-Based Control With Feedback Deactivation for Flexible-Joint Robot Interaction
in IEEE Robotics and Automation Letters
Wei J
(2019)
Reconfiguration-aimed and manifold-operation based type synthesis of metamorphic parallel mechanisms with motion between 1R2T and 2R1T
in Mechanism and Machine Theory
Kang X
(2019)
Relevance and Transferability for Parallel Mechanisms With Reconfigurable Platforms
in Journal of Mechanisms and Robotics
Chai X
(2021)
Six novel 6R metamorphic mechanisms induced from three-series-connected Bennett linkages that vary among classical linkages
in Mechanism and Machine Theory
Cui L
(2020)
Sliding-Rolling Contact and In-Hand Manipulation
| Description | Collaboration with Frank Cooksey Rehabilitation Unit |
| Organisation | King's College Hospital NHS Foundation Trust (NCH) |
| Country | United Kingdom |
| Sector | Public |
| PI Contribution | The specialist consultants at the Frank Cooksey Rehabilitation Unit are very interested in our lower-limb, reconfigurable rehabilitation exoskeleton designs, and are keen to help us ameliorate them, in accordance with patient requirements and data. |
| Collaborator Contribution | The specialist consultants at the Frank Cooksey Rehabilitation Unit have met with us to provide invaluable insight into the refinement of our lower-limb, reconfigurable rehabilitation exoskeleton designs. They have also supported a grant funding bid that we recently submitted to the EPSRC. |
| Impact | The Frank Cooksey Rehabilitation Unit have supported a grant funding bid that we recently submitted to the EPSRC, and will be liaising very closely with us if our application is successful. |
| Start Year | 2023 |
| Description | 2020 IEEE International Conference on Robotics and Automation (ICRA 2020) |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Professional Practitioners |
| Results and Impact | The following article: Z. Fu, E. Spyrakos-Papastavridis, Y. H. Lin, J. S. Dai, "Analytical Expressions of Serial Manipulator Jacobians and Their High-Order Derivatives Based on Lie Theory," was presented during the 2020 IEEE International Conference on Robotics and Automation (ICRA 2020) that took place in Paris, France. |
| Year(s) Of Engagement Activity | 2020 |
| URL | https://events.infovaya.com/presentation?id=68710 |
| Description | 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020) |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Professional Practitioners |
| Results and Impact | The following article: E. Spyrakos-Papastavridis, J. S. Dai, "A Model-Free Solution for Stable Balancing and Locomotion of Floating-base Legged Systems," was presented during the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020) that took place in Las Vegas, USA. |
| Year(s) Of Engagement Activity | 2020 |
| URL | https://ieeexplore.ieee.org/abstract/document/9341255 |
| Description | 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Professional Practitioners |
| Results and Impact | Presentation of the poster titled A Variable Impedance Scheme for Flexible-Joint Robot Interaction and Tracking Control Based on Power-Shaping Signals and Minimal Modelling at the "Late Breaking Results Poster 2" session of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022). |
| Year(s) Of Engagement Activity | 2022 |
| URL | https://events.infovaya.com/presentation?id=90039 |
| Description | IEEE International Conference on Robotics and Automation 2022 (ICRA 2022) |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Professional Practitioners |
| Results and Impact | The following article: E. Spyrakos-Papastavridis, Z. Fu, J. S. Dai, "Power-Shaping Model-based Control with Feedback Deactivation for Flexible-Joint Robot Interaction," IEEE Robotics and Automation Letters (RA-L), vol. 7, no. 2, 2022 was presented during the IEEE International Conference on Robotics and Automation 2022 (ICRA 2022) that took place in Philadelphia, USA. |
| Year(s) Of Engagement Activity | 2022 |
| URL | https://events.infovaya.com/presentation?id=78844 |
| Description | Introduction of REST Project Outcomes to HRH Princess Anne |
| Form Of Engagement Activity | Participation in an open day or visit at my research institution |
| Part Of Official Scheme? | No |
| Geographic Reach | National |
| Primary Audience | Policymakers/politicians |
| Results and Impact | Inauguration of the KCL Engineering Department's Teaching Labs (the QUAD) by the university's Chancellor, HRH Princess Anne. |
| Year(s) Of Engagement Activity | 2025 |
| Description | Invited keynote |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Professional Practitioners |
| Results and Impact | Invited to give a keynote speech to the 13th International Conference on Frontiers of Design and Manufacturing (ICFDM2018), 15-17 August, 2018, Jinan, China. |
| Year(s) Of Engagement Activity | 2018 |
| Description | Invited plenary speech |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Professional Practitioners |
| Results and Impact | Invited to give a plenary speech to the 2018 International Conference of the Chinese Council of Mechanism and Machine Science (CCMMS), 3 August, Beijing, China. |
| Year(s) Of Engagement Activity | 2018 |
| Description | Invited plenary speech |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Professional Practitioners |
| Results and Impact | Invited to give a plenary speech to the IEEE International Conference on Advanced Robotics and Mechatronics, 18-20 July, 2018, Singapore City, Singapore. |
| Year(s) Of Engagement Activity | 2018 |
| Description | King's Impact Reception 2024 |
| Form Of Engagement Activity | Participation in an open day or visit at my research institution |
| Part Of Official Scheme? | No |
| Geographic Reach | National |
| Primary Audience | Supporters |
| Results and Impact | The King's Impact Reception 2024 was hosted by the Vice-Chancellor of King's College London, and is an annual fixture in the King's calendar. It brought together key internal and external stakeholders, donors, alumni and academics to find out more about the breadth and depth of King's work and be inspired by its impact. The Vice-Chancellor's office identified our work on lower-limb, reconfigurable exoskeletons as a key impact case of KCL. |
| Year(s) Of Engagement Activity | 2024 |
| URL | https://www.youtube.com/watch?v=mHQIRj5-8p0 |