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Data-driven modelling and synthesis of motion is an active research area with applications that include animation, games, and social robotics. This paper introduces a new class of probabilistic, generative, and controllable motion-data…
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…
Thumb gestures provide an effective and unobtrusive input modality for wearable and always-available human-machine interaction. Wrist-worn surface electromyography (sEMG) has emerged as a promising approach for compact and wearable…
Developing electroencephalogram (EEG) based brain-computer interface (BCI) systems is challenging. In this study, we analyzed natural grasp actions from EEG. Ten healthy subjects participated in this experiment. They executed and imagined…
The inherent flexibility of soft robots offers numerous advantages, such as enhanced adaptability and improved safety. However, this flexibility can also introduce challenges regarding highly uncertain and nonlinear motion. These challenges…
This paper arises from collaborative research the aim of which was to model clinical assessments of upper limb function after stroke using 3D kinematic data. We present a new nonlinear mixed-effects scalar-on-function regression model with…
Discrimination of hand gestures based on the decoding of surface electromyography (sEMG) signals is a well-establish approach for controlling prosthetic devices and for Human-Machine Interfaces (HMI). However, despite the promising results…
This study presents a comprehensive approach for the clustering and classification of upper-limb surface electromyography (sEMG) signals during functional reach and grasp movements. The methodology was applied to the NINAPRO DB4 dataset,…
We investigate the relationship between the extensor electromyogram (EMG) and tremor time series in physiological hand tremor by cross-spectral analysis. Special attention is directed to the phase spectrum and the effects of observational…
One of the major challenges of ECoG-based Brain-Machine Interfaces is the movement prediction of a human subject. Several methods exist to predict an arm 2-D trajectory. The fourth BCI Competition gives a dataset in which the aim is to…
The tuning parameter selection strategy for penalized estimation is crucial to identify a model that is both interpretable and predictive. However, popular strategies (e.g., minimizing average squared prediction error via cross-validation)…
Myoelectric pattern recognition is one of the important aspects in the design of the control strategy for various applications including upper-limb prostheses and bio-robotic hand movement systems. The current work has proposed an approach…
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…
This paper presents a dataset containing recordings of the electroencephalogram (EEG) and the electromyogram (EMG) from eight subjects who were assisted in moving their right arm by an active orthosis device. The supported movements were…
Transient muscle movements influence the temporal structure of myoelectric signal patterns, often leading to unstable prediction behavior from movement-pattern classification methods. We show that temporal convolutional network sequential…
We propose, implement and evaluate a natural human-machine control interface for a variable stiffness transradial hand prosthesis that achieves tele-impedance control through surface electromyography (sEMG) signals. This interface, together…
We present a motion planning algorithm with probabilistic guarantees for limbed robots with stochastic gripping forces. Planners based on deterministic models with a worst-case uncertainty can be conservative and inflexible to consider the…
Hand gesture recognition based on biosignals has shown strong potential for developing intuitive human-machine interaction strategies that closely mimic natural human behavior. In particular, sensor fusion approaches have gained attention…
Advances in biosignal signal processing and machine learning, in particular Deep Neural Networks (DNNs), have paved the way for the development of innovative Human-Machine Interfaces for decoding the human intent and controlling artificial…
An important paradigm in smart health is developing diagnosis tools and monitoring a patient's heart activity through processing Electrocardiogram (ECG) signals is a key example, sue to high mortality rate of heart-related disease. However,…