Tele-operation of a robotic exoskeleton for rehabilitation and passive arm movement assistance
Bibliographic record
Abstract
A robotic exoskeleton, the MARSE-4 has been developed to provide passive rehabilitation therapy to the physically disabled individuals with impaired upper-limb function. In this paper we focused on the tele-operation of the MARSE-4 using an upper-limb prototype 7DoFs (lower scaled) master exoskeleton arm (mExoArm.) The MARSE-4 has 4DoFs and is able to assist elbow (flexion/extension), forearm (pronation/supination) and wrist joint movements (radial/ulnar deviation, and flexion/extension). Modified Denavit-Hartenberg conventions were used in the kinematic modeling of the exoskeleton. In control, a nonlinear computed torque control and a linear PID control techniques were employed to maneuver the MARSE-4 to follow the desired trajectory. Experimental results show that the MARSE-4 can efficiently track the desired trajectories as generated by mExoArm and therefore guarantee to tele-operate the MARSE to deliver passive therapy for wrist, elbow, and forearm movements.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.003 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".