Related papers: Adaptive Grasp Control through Multi-Modal Interac…
An arm amputation is extremely invalidating since many of our daily tasks require bi-manual and precise control of hand movements. Perfect hand prostheses should therefore offer a natural, intuitive and cognitively simple control over their…
The coupling of human movement dynamics with the function and design of wearable assistive devices is vital to better understand the interaction between the two. Advanced neuromuscular models and optimal control formulations provide the…
Wearable sensor systems with transmitting capabilities are currently employed for the biometric screening of exercise activities and other performance data. Such technology is generally wireless and enables the noninvasive monitoring of…
In teleoperation, research has mainly focused on target approaching, where we deal with the more challenging object manipulation task by advancing the shared control technique. Appropriately manipulating an object is challenging due to the…
Wearable and Assistive robotics for human grasp support are broadly either tele-operated robotic arms or act through orthotic control of a paralyzed user's hand. Such devices require correct orientation for successful and efficient…
Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…
Interaction in virtual reality (VR) environments is essential to achieve a pleasant and immersive experience. Most of the currently existing VR applications, lack of robust object grasping and manipulation, which are the cornerstone of…
This survey paper concerns Sensor Fusion for Predictive Control of Human-Prosthesis-Environment Dynamics in Assistive Walking. The powered lower limb prosthesis can imitate the human limb motion and help amputees to recover the walking…
A successful grasp requires careful balancing of the contact forces. Deducing whether a particular grasp will be successful from indirect measurements, such as vision, is therefore quite challenging, and direct sensing of contacts through…
The rise in additive manufacturing comes with unique opportunities and challenges. Massive part customization and rapid design changes are made possible with additive manufacturing, however, manufacturing industries that desire the…
The human somatosensory cortex is intimately linked to other central brain functions such as vision, audition, mechanoreception, and motor planning and control. These links are established through brain learning, and display a considerable…
In real life, grasping is one of the fundamental and effective forms of interaction when manipulating objects. This holds true in the physical and virtual world; however, unlike the physical world, virtual reality (VR) is grasped in a…
Tactile-based blind grasping addresses realistic robotic grasping in which the hand only has access to proprioceptive and tactile sensors. The robotic hand has no prior knowledge of the object/grasp properties, such as object weight,…
Tactile sensing is critical for humans to perform everyday tasks. While significant progress has been made in analyzing object grasping from vision, it remains unclear how we can utilize tactile sensing to reason about and model the…
Robotic dexterous hands are central to contact-rich manipulation, with rapid progress driven by advances in hardware, sensing, control, simulation, and data generation. However, existing studies are often developed under different…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…
The main purpose of the paper is development, implementation, and testing of a low-cost portable system to assist partially paralyzed patients in their hand rehabilitation after strokes or some injures. Rehabilitation includes time…
Clinical myoelectric prostheses lack the sensory feedback and sufficient dexterity required to complete activities of daily living efficiently and accurately. Providing haptic feedback of relevant environmental cues to the user or imbuing…
Wearable orthoses can function both as assistive devices, which allow the user to live independently, and as rehabilitation devices, which allow the user to regain use of an impaired limb. To be fully wearable, such devices must have…
Soft robotics gripper have shown great promise in handling fragile and geometrically complex objects. However, most existing solutions rely on bulky actuators, complex control strategies, or advanced tactile sensing to achieve stable and…