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Robotic systems can enhance the amount and repeatability of physically guided motor training. Yet their real-world adoption is limited, partly due to non-intuitive trainer/therapist-trainee/patient interactions. To address this gap, we…
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.…
Without finger function, people with C5-7 spinal cord injury (SCI) regularly utilize wrist extension to passively close the fingers and thumb together for grasping. Wearable assistive grasping devices often focus on this familiar…
A central challenge in building robotic prostheses is the creation of a sensor-based system able to read physiological signals from the lower limb and instruct a robotic hand to perform various tasks. Existing systems typically perform…
Mobile manipulator platforms, like the Stretch RE1 robot, make the promise of in-home robotic assistance feasible. For people with severe physical limitations, like those with quadriplegia, the ability to tele-operate these robots…
Brain-machine interfaces (BMIs) have emerged as a transformative force in assistive technologies, empowering individuals with motor impairments by enabling device control and facilitating functional recovery. However, the persistent…
Under conventional "open-" surgery, the physician has to take care of the patient, interact with other clinicians and check several monitoring devices. Nowadays, the Computer Assisted Surgery proposes to integrate 3D cameras in the…
We present ChameleonControl, a real-human teleoperation system for scalable remote instruction in hands-on classrooms. In contrast to existing video or AR/VR-based remote hands-on education, ChameleonControl uses a real human as a surrogate…
This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only a haptic device, but also a virtual reality that provides a 3D visual feedback to a remotely-located teleoperator in…
Brain-computer interface (BCI) systems have potential as assistive technologies for individuals with severe motor impairments. Nevertheless, individuals must first participate in many training sessions to obtain adequate data for optimizing…
As autonomous service robots become more affordable and thus available also for the general public, there is a growing need for user friendly interfaces to control the robotic system. Currently available control modalities typically expect…
In robotic bimanual teleoperation, multimodal sensory feedback plays a crucial role, providing operators with a more immersive operating experience, reducing cognitive burden, and improving operating efficiency. In this study, we develop an…
Robotic ultrasound (US) imaging has been seen as a promising solution to overcome the limitations of free-hand US examinations, i.e., inter-operator variability. However, the fact that robotic US systems cannot react to subject movements…
Mesh deformation is a fundamental tool in 3D content manipulation. Despite extensive prior research, existing approaches often suffer from low output quality, require significant manual tuning, or depend on data-intensive training. To…
We studied the performance of a robotic orthosis designed to assist the paretic hand after stroke. It is wearable and fully user-controlled, serving two possible roles: as a therapeutic tool that facilitates device mediated hand exercises…
Hand interactions are increasingly used as the primary input modality in immersive environments, but they are not always feasible due to situational impairments, motor limitations, and environmental constraints. Speech interfaces have been…
Brain-computer interfaces (BCIs) promise to extend human movement capabilities by enabling direct neural control of supernumerary effectors, yet integrating augmented commands with multiple degrees of freedom without disrupting natural…
Individuals with hand paralysis resulting from C6-C7 spinal cord injuries frequently rely on tenodesis for grasping. However, tenodesis generates limited grasping force and demands constant exertion to maintain a grasp, leading to fatigue…
Brain Computer Interfaces (BCI) provide the opportunity to control external devices using the brain ElectroEncephaloGram (EEG) signals. In this paper we propose two software framework in order to control a 5 degree of freedom robotic and…
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…