Related papers: A Robotic Prosthesis for an Amputee Drummer
Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…
This work tackles practical issues which arise when using a tendon-driven robotic manipulator (TDRM) with a long, flexible, passive proximal section in medical applications. Tendon-driven devices are preferred in medicine for their improved…
Humanoid robots are entering our physical world at scale, yet as oversized toys--good at singing and dancing, but short on force-interaction capabilities for practical tasks. Bridging this gap necessitates prioritizing reliable contact…
Robot musicians require precise control to obtain proper note accuracy, sound quality, and musical expression. Performance of string instruments, such as violin and cello, presents a significant challenge due to the precise control required…
Environment awareness is crucial for enhancing walking safety and stability of amputee wearing powered prosthesis when crossing uneven terrains such as stairs and obstacles. However, existing environmental perception systems for prosthesis…
Assistive robotic devices can increase the independence of individuals with motor impairments. However, each person is unique in their level of injury, preferences, and skills, which moreover can change over time. Further, the amount of…
Many amputees throughout the world are left with limited options to personally own a prosthetic arm due to the expensive cost, mechanical system complexity, and lack of availability. The three main control methods of prosthetic hands are:…
DeepDrummer is a drum loop generation tool that uses active learning to learn the preferences (or current artistic intentions) of a human user from a small number of interactions. The principal goal of this tool is to enable an efficient…
The presence of post-stroke grasping deficiencies highlights the critical need for the development and implementation of advanced compensatory strategies. This paper introduces a novel system to aid chronic stroke survivors through the…
One of the most important research challenges in upper-limb prosthetics is enhancing the user-prosthesis communication to closely resemble the experience of a natural limb. As prosthetic devices become more complex, users often struggle to…
The significance of employing a controller in prosthetic hands cannot be overstated, as it plays a crucial role in enhancing the functionality and usability of these systems. This paper introduces an adaptive neuro-controller specifically…
Performing a grasp is a pivotal capability for a robotic gripper. We propose a new evaluation approach of grasping stability via constructing a model of grasping stiffness based on the theory of contact mechanics. First, the mathematical…
Many people living with neurological disorders, such as cerebral palsy, stroke, muscular dystrophy or dystonia experience upper limb impairments (muscle spasticity, loss of selective motor control, muscle weakness or tremors) and have…
We address a state-of-the-art reinforcement learning (RL) control approach to automatically configure robotic prosthesis impedance parameters to enable end-to-end, continuous locomotion intended for transfemoral amputee subjects.…
We present Model-Predictive Interaction Primitives -- a robot learning framework for assistive motion in human-machine collaboration tasks which explicitly accounts for biomechanical impact on the human musculoskeletal system. First, we…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…
Robotic systems that are intended to augment human capabilities commonly require the use of semi-autonomous control and artificial sensing, while at the same time aiming to empower the user to make decisions and take actions. This work…
Proprioception is crucial in intuitive control of prosthetic limbs and therefor contributes to intuitive prosthetic use. The agonist-antagonist myoneural interface (AMI) is an prosthetic innovation with enhanced control, reduced pain, and…
The physically impaired commonly have difficulties performing simple routine tasks without relying on other individuals who are not always readily available and thus make them strive for independence. While their impaired abilities can in…
Physical movement therapy is a crucial method of rehabilitation aimed at reinstating mobility among patients facing motor dysfunction due to neurological conditions or accidents. Such therapy is usually featured as patient-specific,…