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Restoring limb motor function in individuals with spinal cord injury (SCI), stroke, or amputation remains a critical challenge, one which affects millions worldwide. Recent studies show through surface electromyography (EMG) that spared…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
Dielectric elastomer actuators (DEAs) have garnered extensive attention especially in soft robotic applications over the past few decades owing to the advantages of lightweight, large strain, fast response and high energy density. However,…
Event-based sensors have the potential to optimize energy consumption at every stage in the signal processing pipeline, including data acquisition, transmission, processing and storage. However, almost all state-of-the-art systems are still…
Understanding mechanosensitivity, i.e. how cells sense the stiffness of their environment is very important, yet there is a fundamental difficulty in understanding its mechanism: to measure an elastic modulus one requires two points of…
The electromyography (EMG) signal is the electrical manifestation of a neuromuscular activation that provides access to physiological processes which cause the muscle to generate force and produce movement. Non invasive prostheses use such…
Variable stiffness actuators undergo lower peak force in contacts compared to their rigid counterparts, and are thus safer for human-robot interaction. Furthermore, they can store energy in their elastic element and can release it later to…
Memristors, uniquely characterized by their pinched hysteresis loop fingerprints, have attracted significant research interest over the past decade, due to their enormous potential for novel computation and artificial intelligence…
We present PiMForce, a novel framework that enhances hand pressure estimation by leveraging 3D hand posture information to augment forearm surface electromyography (sEMG) signals. Our approach utilizes detailed spatial information from 3D…
The Transition-Edge Sensor (TES) is an extremely sensitive device which is used to measure the energy of individual X-ray photons. For astronomical spectrometry applications, SRON develops a Frequency Domain Multiplexing (FDM) read-out…
Electromagnetic navigation systems (eMNS) enable a number of magnetically guided surgical procedures. A challenge in magnetically manipulating surgical tools is that the effective workspace of an eMNS is often severely constrained by power…
Physical activity during hip fracture rehabilitation is essential for mitigating long-term functional decline in geriatric patients. However, it is rarely quantified in clinical practice. Existing continuous monitoring systems with…
A novel finite element method (FEM) is developed to study mechanical response of axons embedded in extra cellular matrix (ECM) when subjected to harmonic uniaxial stretch under purely non-affine kinematic boundary conditions. The proposed…
The Elastic Analysis Facility (EAF) hosted at Fermi National Accelerator Laboratory (Fermilab) is a platform being developed with the goal of providing a fast and efficient facility for physics analysis. As high-energy physics moves towards…
The scope of this study is to develop a novel sensorless adaptive vibration suppression controller for two-mass systems with joint estimation of states and controller parameters. Unlike existing solutions, we simultaneously: (i) propose an…
Dynamic modeling and control are critical for unleashing soft robots' potential, yet remain challenging due to their complex constitutive behaviors and real-world operating conditions. Bio-inspired musculoskeletal robots, which integrate…
Surface Electromyography (sEMG) is a technology to measure the bio-potentials across the muscles. The true prospective of this technology is yet to be explored. In this paper, a simple and economic construction of a sEMG sensor is proposed.…
This work presents the design and implementation of a wireless, wearable system that combines surface electromyography (sEMG) and inertial measurement units (IMUs) to analyze a single lower-limb functional task: the free bodyweight squat in…
Lower-limb prosthesis wearers are more prone to falling than non-amputees. Powered prostheses can reduce this instability of passive prostheses. While shown to be more stable in practice, powered prostheses generally use model-independent…
Current control strategies for powered lower limb prostheses often lack awareness of the environment and the user's intended interactions with it. This limitation becomes particularly apparent in complex terrains. Obstacle negotiation, a…