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State-of-the-art robotic hand prosthetics generate finger and wrist movement through pattern recognition (PR) algorithms using features of forearm electromyogram (EMG) signals, but re- quires extensive training and is prone to poor…
Humans and other animals coactivate agonist and antagonist muscles in many motor actions. Increases in muscle coactivation are thought to leverage viscoelastic properties of skeletal muscles to provide resistance against limb motion.…
Current prosthesis control methods are primarily model-independent - lacking formal guarantees of stability, relying largely on heuristic tuning parameters for good performance, and neglecting use of the natural dynamics of the system.…
Electromyography (EMG) signals are obtained from muscle cell activity. The recording and analysis of EMG signals has several applications. The EMG is of diagnostic importance for treating patients suffering from neurological and…
We propose, implement and evaluate a natural human-machine control interface for a variable stiffness transradial hand prosthesis that achieves tele-impedance control through surface electromyography (sEMG) signals. This interface, together…
Lower limbs exoskeletons provide assistance during standing, squatting, and walking. Gait dynamics, in particular, implies a change in the configuration of the device in terms of contact points, actuation, and system dynamics in general. In…
Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and real-time sensory integration. This study presents a…
Objective: The next generation prosthetic hand that moves and feels like a real hand requires a robust neural interconnection between the human minds and machines. Methods: Here we present a neuroprosthetic system to demonstrate that…
Loss of voluntary foot movement after spinal cord injury (SCI) can significantly limit independent mobility and quality of life. To improve motor output after injury, functional electrical stimulation (FES) is used to deliver stimulation…
Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstation-like counterparts. However, the field is generally lacking effective methods by which the user can operate the device: such…
A significant challenge for the control of a robotic lower extremity rehabilitation exoskeleton is to ensure stability and robustness during programmed tasks or motions, which is crucial for the safety of the mobility-impaired user. Due to…
Neural networks are a promising tool for characterizing intermediate-scale quantum devices from limited amounts of measurement data. A challenging problem in this area is to learn the action of an unknown quantum process on an ensemble of…
The loss of limb motion arising from damage to the spinal cord is a disability that could effect people while performing their day-to-day activities. The restoration of limb movement would enable people with spinal cord injury to interact…
The identification of intentionally delivered commands is a challenge in Brain Computer Interfaces (BCIs) based on Sensory-Motor Rhythms (SMR). It is of fundamental importance that BCI systems controlling a robotic device (i.e., upper limb…
A central challenge in analog quantum simulation is to characterize desirable physical properties of quantum states produced in experiments. However, in conventional approaches, the extraction of arbitrary information requires performing…
As quantum control approaches hardware-imposed performance limits, weak effects omitted by reduced models become consequential. Assumptions required for analytic tractability then cease to guide control design and instead constrain further…
We propose MetaEMG, a meta-learning approach for fast adaptation in intent inferral on a robotic hand orthosis for stroke. One key challenge in machine learning for assistive and rehabilitative robotics with disabled-bodied subjects is the…
We have a limited understanding of how we integrate haptic information in real-time from our upper limbs to perform complex bimanual tasks, an ability that humans routinely employ to perform tasks of varying levels of difficulty. In order…
The quality of a transtibial prosthetic socket depends on the prosthetist's skills and expertise, as the fitting is performed manually. This study investigates multiple artificial intelligence (AI) approaches to help standardize transtibial…
Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control…