Related papers: A Wireless Embedded Tongue Tactile Biofeedback Sys…
Step adjustment can improve the gait robustness of biped robots, however the adaptation of step timing is often neglected as it gives rise to non-convex problems when optimized over several footsteps. In this paper, we argue that it is not…
Wearable, implantable, and ingestible antennas are continuously evolving in biomedical applications, as they are crucial components in devices used for monitoring and controlling physiological parameters. This work presents an…
Many people suffer from the loss of a limb. Learning to get by without an arm or hand can be very challenging, and existing prostheses do not yet fulfil the needs of individuals with amputations. One promising solution is to provide greater…
The ability of animals to interact with complex dynamics is unmatched in robots. Especially important to the interaction performances is the online adaptation of body dynamics, which can be modeled as an impedance behaviour. However, the…
Neurological gait disorders affect a large population, significantly reducing life quality. This paper brings a foundational understanding to the potentials of emerging sensing modalities (e.g., WiFi) for gait disorder assessment, via…
In applications, such as biomedicine and systems/synthetic biology, technical limitations in actuation complicate implementation of time-varying control signals. In order to alleviate some of these limitations, it may be desirable to derive…
Balance assessment during physical rehabilitation often relies on rubric-oriented battery tests to score a patient's physical capabilities, leading to subjectivity. While some objective balance assessments exist, they are often limited to…
Small obstacles on the ground often lead to a fall when caught with commercial prosthetic feet. Despite some recently developed feet can actively control the ankle angle, for instance over slopes, their flat and rigid sole remains a cause…
Little research into tactile feet has been done for walking robots despite the benefits such feedback could give when walking on uneven terrain. This paper describes the development of a simple, robust and inexpensive tactile foot for…
An experimental biomimetic tongue-palate system has been developed to probe human in-mouth texture perception. Model tongues are made from soft elastomers patterned with fibrillar structures analogue to human filiform papillae. The palate…
Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee requires an active prosthesis, but has the potential to enable…
Legged locomotion has received increasing attention from the robotics community. In this respect, contact stability plays a critical role in ensuring that robots maintain balance, and it is a key element for balancing and walking…
Single-channel speech enhancement models face significant performance degradation in extremely noisy environments. While prior work has shown that complementary bone-conducted speech can guide enhancement, effective integration of this…
Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. However, to match human abilities and be able to reliably pick…
Relaxation is a critical counterbalance to the demands of modern business life. Footbaths, a simple yet highly effective therapeutic practice, have been used for centuries across various cultures to promote relaxation and overall…
From carrying grocery bags to holding onto handles on the bus, there are a variety of situations where one or both hands are busy, hindering the vision of ubiquitous interaction with technology. Voice commands, as a popular hands-free…
Rollator walkers allow people with physical limitations to increase their mobility and give them the confidence and independence to participate in society for longer. However, rollator walker users often have poor posture, leading to…
Balancing oneself using the spine is a physiological alignment of the body posture in the most efficient manner by the muscular forces for mammals. For this reason, we can see many disabled quadruped animals can still stand or walk even…
Tactile sensing provides a promising sensing modality for object pose estimation in manipulation settings where visual information is limited due to occlusion or environmental effects. However, efficiently leveraging tactile data for…
The incorporation of empathic systems in everyday life draws a lot of attention from society. Specifically, the use of wearables to perform stress regulation is a growing field of research. Among techniques explored, the haptic emulation of…