Related papers: A Reactive Robotized Interface for Lower Limb Reha…
Conjoined collaborative robots, functioning as supernumerary robotic bodies (SRBs), can enhance human load tolerance abilities. However, in tasks involving physical interaction with humans, users may still adopt awkward, non-ergonomic…
The objective of this paper is to present a Mixed Reality System (MRS) for rehabilitation of the upper limb after stroke. The system answers the following challenges: (i) increase motivation of patients by making the training a personalized…
One of the most frequent and severe aftermaths of a stroke is the loss of upper limb functionality. Therapy started in the sub-acute phase proved more effective, mainly when the patient participates actively. Recently, a novel set of…
Generalist humanoid motion trackers have recently achieved strong simulation metrics by scaling data and training, yet often remain brittle on hardware during sustained teleoperation due to interface- and dynamics-induced errors. We present…
The ability to accomplish a sit-to-stand (STS) motion is key to increase functional mobility and reduce rehospitalization risks. While raising aid (transfer) devices and partial bodyweight support (rehabilitation) devices exist, both are…
We present the design and implementation of a taskable reactive mobile manipulation system. In contrary to related work, we treat the arm and base degrees of freedom as a holistic structure which greatly improves the speed and fluidity of…
Loss of mobility or balance resulting from neural trauma is a critical consideration in public health. Robotic exoskeletons hold great potential for rehabilitation and assisted movement, yet optimal assist-as-needed (AAN) control remains…
Developing robotic manipulation policies is iterative and hypothesis-driven: researchers test tactile sensing, gripper geometries, and sensor placements through real-world data collection and training. Yet even minor end-effector changes…
As the global population ages, many seniors face the problem of loneliness. Companion robots offer a potential solution. However, current companion robots often lack advanced functionality, while task-oriented robots are not designed for…
Drawing inspiration from human multi-domain walking, this work presents a novel reduced-order model based framework for realizing multi-domain robotic walking. At the core of our approach is the viewpoint that human walking can be…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
In providing physical assistance to elderly people, ensuring cooperative behavior from the elderly persons is a critical requirement. In sit-to-stand assistance, for example, an older adult must lean forward, so that the body mass can shift…
One of the essential aspects of humanoid robot running is determining the limb-swinging trajectories. During the flight phases, where the ground reaction forces are not available for regulation, the limb swinging trajectories are…
Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…
This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-MAN interface, through which an operator could be physically…
Humanoid robots have great potential for real-world applications due to their ability to operate in environments built for humans, but their deployment is hindered by the challenge of controlling their underlying high-dimensional nonlinear…
Assistive robots offer agency to humans with severe motor impairments. Often, these users control high-DoF robots through low-dimensional interfaces, such as using a 1-D sip-and-puff interface to operate a 6-DoF robotic arm. This mismatch…
A vast number of applications for legged robots entail tasks in complex, dynamic environments. But these environments put legged robots at high risk for limb damage. This paper presents an empirical study of fault tolerant dynamic gaits…
Brain-Machine Interaction (BMI) system motivates interesting and promising results in forward/feedback control consistent with human intention. It holds great promise for advancements in patient care and applications to neurorehabilitation.…
Modular robotics holds immense potential for space exploration, where reliability, repairability, and reusability are critical for cost-effective missions. Coordination between heterogeneous units is paramount for precision tasks -- whether…