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Teleoperation interfaces are essential tools for enabling human control of robotic systems. Although a wide range of interfaces has been developed, a persistent gap remains between the level of performance humans can achieve through these…
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…
Brain-computer interfaces (BCIs) read neural signals directly from the brain to infer motor planning and execution. However, the implementation of this technology has been largely limited to laboratory settings, with few real-world…
Recent progress in humanoid robots has unlocked agile locomotion skills, including backflipping, running, and crawling. Yet it remains challenging for a humanoid robot to perform forceful manipulation tasks such as moving objects, wiping,…
Dexterous robotic manipulator teleoperation is widely used in many applications, either where it is convenient to keep the human inside the control loop, or to train advanced robot agents. So far, this technology has been used in…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
Assistive devices for indivuals with upper-limb movement often lack controllability and intuitiveness, in particular for grasping function. In this work, we introduce a novel user interface for grasping movement control in which the user…
Restoration of hand function is one of the highest priorities for SCI populations. In this work, we present a prototype of a robotic assistive orthosis capable of implementing tenodesis user control. The underactuated device provides active…
Spinal cord injuries can often lead to quadriplegia in patients limiting their mobility. Wheelchairs could be a good proposition for patients, but most of them operate either manually or with the help of electric motors operated with a…
Communication and computer interaction are important for autonomy in modern life. Unfortunately, these capabilities can be limited or inaccessible for the millions of people living with paralysis. While implantable brain-computer interfaces…
This paper introduces an innovative control approach for teleoperating a robot in close proximity to a human operator, which could be useful to control robots embedded on wheelchairs. The method entails establishing a virtual connection…
When a human performs a given specific task, it has been known that the central nervous system controls modularized muscle group, which is called muscle synergy. For human-robot interface design problem, therefore, the muscle synergy can be…
In our daily lives, we can naturally convey instructions for the spatial manipulation of objects using words and gestures. Transposing this form of interaction into virtual reality (VR) object manipulation can be beneficial. We propose VR…
-This article presents clinical results from the use of MONIMAD, a reactive robotized interface for lower limb Rehabilitation of patients suffering from cerebellar disease. The first problem to be addressed is the postural analysis of…
For social robots to maintain long-term engagement as exercise instructors, rapport-building is essential. Motor mimicry--imitating one's physical actions--during social interaction has long been recognized as a powerful tool for fostering…
Locomotion plays a crucial role in shaping the user experience within virtual reality environments. In particular, hands-free locomotion offers a valuable alternative by supporting accessibility and freeing users from reliance on handheld…
Background: People with severe speech and motor impairment (SSMI) often uses a technique called eye pointing to communicate with outside world. One of their parents, caretakers or teachers hold a printed board in front of them and by…
Synergistic prostheses enable the coordinated movement of the human-prosthetic arm, as required by activities of daily living. This is achieved by coupling the motion of the prosthesis to the human command, such as the residual limb…
This paper presents a sensorized vision-enabled prosthetic hand aimed at replicating a natural hand's performance, functionality, appearance, and comfort. The design goal was to create an accessible substitution with a user-friendly…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…