Jasper van den Berg
Contact details
Thesis title
Underactuated dynamics with exoskeletons for sit-to-stand transfers in stroke rehabilitation
Research overview
Exoskeletons for sit-to-stand rehabilitation for stroke patients generally adopt a safe strategy where no momentum is generated before seat-off. Healthy adults tend to leverage the momentum generated by the trunk to initiate seat-off and reduce the required work to complete the rising phase of the sit-to-stand transfer. This work aims to develop a more natural control strategy for exoskeletons that leverages momentum while ensuring stability for more effective rehabilitation and the possibility to include underactuated robotics in rehabilitation.
Research group
Supervisors
Qualifications
BSc Mechanical Engineering, TU Delft, The Netherlands (2021)
MSc Mechanical Engineering (Biomechanical Design), TU Delft, The Netherlands (2023)