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Semi-active vibration reduction techniques are defined as techniques in which controlled actions do not operate directly on the system's degrees of freedom (as in the case of active vibration control) but on the system's parameters, i.e.,…
Several experiments have demonstrated the existence of an electro-mechanical effect in many biological tissues and hydrogels, and its actual influence on growth, migration, and pattern formation. Here, to model these interactions and…
The objective of this paper is to develop and evaluate a directional vibrotactile feedback interface as a guidance tool for postural adjustments during work. In contrast to the existing active and wearable systems such as exoskeletons, we…
Aging and chronic conditions affect older adults' daily lives, making the early detection of developing health issues crucial. Weakness, which is common across many conditions, can subtly alter physical movements and daily activities.…
During contraction the energy of muscle tissue increases due to energy from the hydrolysis of ATP. This energy is distributed across the tissue as strain-energy potentials in the contractile elements, strain-energy potential from the 3D…
Task-dependent controllers widely used in exoskeletons track predefined trajectories, which overly constrain the volitional motion of individuals with remnant voluntary mobility. Energy shaping, on the other hand, provides task-invariant…
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…
We explore the relaxation dynamics of a tracer in a harmonic trap coupled to a non-equilibrium bath particle in stationary state, finding qualitative differences compared to the well known equilibrium case. These can be attributed to an…
We consider a general class of translation-invariant systems with a specific category of output nonlinearities motivated by biological sensing. We show that no dynamic output feedback can stabilize this class of systems to an isolated…
Fatigue simulation requires accurate modeling of unloading and reloading. However, classical ductile damage models treat deformations after complete failure as irrecoverable -- which leads to unphysical behavior during unloading. This…
Passive elastic elements can contribute to stability, energetic efficiency, and impact absorption in both biological and robotic systems. They also add dynamical complexity which makes them more challenging to model and control. The impact…
Muscle models and animal observations suggest that physical damping is beneficial for stabilization. Still, only a few implementations of mechanical damping exist in compliant robotic legged locomotion. It remains unclear how physical…
Musculoskeletal disorder (MSD) is one of the major health problems in physical work especially in manual handling jobs. In several literatures, muscle fatigue is considered to be closely related to MSD, especially for muscle related…
This manuscript presents control of a high-DOF fully actuated lower-limb exoskeleton for paraplegic individuals. The key novelty is the ability for the user to walk without the use of crutches or other external means of stabilization. We…
This paper presents a modeling study of the way speech motor control can deal with gravity to achieve steady-state tongue positions. It is based on simulations carried out with the 3D biomechanical tongue model developed at ICP, which is…
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…
The natural impedance, or dynamic relationship between force and motion, of a human operator can determine the stability of exoskeletons that use interaction-torque feedback to amplify human strength. While human impedance is typically…
Rapid transduction of sensory stimulation to action is essential for an animal to survive. To this end, most animals use the sub-second excitable and multistable dynamics of a neuromuscular system. Here, studying an animal without neurons…
Squatting is one of the most demanding lower-limb movements, requiring substantial muscular effort and coordination. Reducing the physical demands of this task through intelligent and personalized assistance has significant implications,…
This paper presents a novel approach to evaluating back support exoskeletons (BSEs) in workplace settings addressing the limitations of traditional methods like electromyography (EMG), which are impractical due to their sensitivity to…