Related papers: A Robotic Prosthesis for an Amputee Drummer
State-of-the-art motorized hand prostheses are endowed with actuators able to provide independent and proportional control of as many as six degrees of freedom (DOFs). The control signals are derived from residual electromyographic (EMG)…
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…
Impedance controllers are popularly used in the field of lower limb prostheses and exoskeleton development. Such controllers assume the joint to be a spring-damper system described by a discrete set of equilibria and impedance parameters.…
Reinforcement learning is a promising method to accomplish robotic control tasks. The task of playing musical instruments is, however, largely unexplored because it involves the challenge of achieving sequential goals - melodies - that have…
In this thesis, we present an articulated, empirical view on what human music making is, and on how this fundamentally relates to computation. The experimental evidence which we obtained seems to indicate that this view can be used as a…
Purpose: One of the major reasons that totally implantable cochlear microphones are not readily available is the lack of good implantable microphones. An implantable microphone has the potential to provide a range of benefits over external…
Mobility impairments, particularly those caused by stroke-induced hemiparesis, significantly impact independence and quality of life. Current smart walker controllers operate by using input forces from the user to control linear motion and…
Emerging technologies in the domain of extended reality offer rich, new possibilities for the study and practice of joint music performance. Apart from the technological challenges, bringing music players together in extended reality raises…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
Assistive robots for healthcare have seen a growing demand due to the great potential of relieving medical practitioners from routine jobs. In this paper, we investigate the development of an optimization-based control framework for an…
Tendon-driven hand orthoses have advantages over exoskeletons with respect to wearability and safety because of their low-profile design and ability to fit a range of patients without requiring custom joint alignment. However, no existing…
The visual functions of visual prostheses such as field of view, resolution and dynamic range, seriously restrict the person's ability to navigate in unknown environments. Implanted patients still require constant assistance for navigating…
Limb loss affects millions globally, impairing physical function and reducing quality of life. Most traditional surface electromyographic (sEMG) and semi-autonomous methods require users to generate myoelectric signals for each control,…
Neuroprosthetic brain-computer interfaces function via an algorithm which decodes neural activity of the user into movements of an end effector, such as a cursor or robotic arm. In practice, the decoder is often learned by updating its…
Most human-robot interfaces, such as joysticks and keyboards, require training and constant cognitive effort and provide a limited degree of awareness of the robots state and its environment. Embodied interactions, instead of interfaces,…
In the scope of the "Chess-Bot" project, this study's goal is to choose the right model for the robotic arm that the "the Chess-Bot" will use to move the pawn from a cell to another. In this paper, there is the definition and the structure…
This paper proposes a data-driven method for powered prosthesis control that achieves stable walking without the need for additional sensors on the human. The key idea is to extract the nominal gait and the human interaction information…
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…
Artificial muscle-driven modular soft robots exhibit significant potential for executing complex tasks. However, their broader applicability remains constrained by the lack of dynamic model-based control strategies tailored for…
Robotic laparoscopic grasper is a surgical tool with minimal invasion. In this robot, achieve goals like precise tracking, stability and disturbance rejection are very important. In this paper, first the stages of modeling and simulating of…