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Wireless bioelectronic interfaces are increasingly used to control tissue-engineered biohybrid robotic systems. However, a unifying engineering framework linking device design to system-level control remains underdeveloped. Here, we propose…
This paper presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work has shown that providing some freedom of movement around a…
Back pain is one of the leading causes of disability-adjusted life year globally and the most common cause of low back pain is poor sitting posture. There are several actions that can be adopted proactively to avoid poor sitting posture…
This paper presents a standing support mobility robot "Moby" developed to enhance independence and safety for elderly individuals during daily activities such as toilet transfers. Unlike conventional seated mobility aids, the robot…
This manuscript primarily aims to enhance the performance of whole-body controllers(WBC) for underactuated legged locomotion. We introduce a systematic parameter design mechanism for the floating-base feedback control within the WBC. The…
Lower limb amputations and neuromuscular impairments severely restrict mobility, necessitating advancements beyond conventional prosthetics. While motorized bionic limbs show promise, their effectiveness depends on replicating the dynamic…
Stability of bipedal systems in frontal plane is affected by the hip offset, to the extent that adjusting stride time using feedforward retraction and extension of the legs can lead to stable oscillations without feedback control. This…
During the preceding decades, human gait analysis has been the center of attention for the scientific community, while the association between gait analysis and overall health monitoring has been extensively reported. Technological advances…
This paper introduces a Wi-Fi signal based passive wireless sensing system that has the capability to detect diverse indoor human movements, from whole body motions to limb movements and including breathing movements of the chest. The real…
Current co-speech motion generation approaches usually focus on upper body gestures following speech contents only, while lacking supporting the elaborate control of synergistic full-body motion based on text prompts, such as talking while…
The central nervous system exploits anticipatory (APAs) and compensatory (CPAs) postural adjustments to maintain the balance.The postural adjustments comprising stability of the center of mass (CoM) and the pressure distribution of the body…
This paper analyses joint-space walking mechanisms and redundancies in delivering functional gait outcomes. Multiple biomechanical measures are analysed for two healthy male adults who participated in a multi-factorial study and walked…
To enable the broad adoption of wearable robotic exoskeletons in medical and industrial settings, it is crucial they can adaptively support large repertoires of movements. We propose a new human-machine interface to simultaneously drive…
Roughly 1/3 of adults older than 65 fall each year, resulting in more than 3 million emergency room visits, thousands of deaths, and over $50 Billion in direct costs. The Centers for Disease Control and Prevention (CDC) estimate that 1/3 of…
Humans sense of distance depends on the integration of multi sensory cues. The incoming visual luminance, auditory pitch and tactile vibration could all contribute to the ability of distance judgement. This ability can be enhanced if the…
Despite renewed awareness of the importance of articulation, it remains a challenge for instructors to handle the pronunciation needs of language learners. There are relatively scarce pedagogical tools for pronunciation teaching and…
Capturing accurate 3D human pose in the wild would provide valuable data for training pose estimation and motion generation methods. While video-based estimation approaches have become increasingly accurate, they often fail in common…
We propose a sensory substitution device that communicates one-degree-of-freedom proprioceptive feedback via deep pressure stimulation on the arm. The design is motivated by the need for a feedback modality detectable by individuals with a…
Closing feedback loops fast and over long distances is key to emerging applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless technology is preferred for…
This paper presents an innovative distributed bio-inspired posture control strategy for a humanoid, employing a balance control system DEC (Disturbance Estimation and Compensation). Its inherently modular structure could potentially lead to…