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With the further development of highly automated vehicles, drivers will engage in non-related tasks while being driven. Still, drivers have to take over control when requested by the car. Here the question arises, how potentially distracted…

Evaluating human-robot social interactions in a rigorous manner is notoriously difficult: studies are either conducted in labs with constrained protocols to allow for robust measurements and a degree of replicability, but at the cost of…

The human shoulder, with its glenohumeral joint, tendons, ligaments, and muscles, allows for the execution of complex tasks with precision and efficiency. However, current robotic shoulder designs lack the compliance and compactness…

Recent advances in deep reinforcement learning (RL) based techniques combined with training in simulation have offered a new approach to developing robust controllers for legged robots. However, the application of such approaches to real…

This paper introduces a SSSUMO, semi-supervised deep learning approach for submovement decomposition that achieves state-of-the-art accuracy and speed. While submovement analysis offers valuable insights into motor control, existing methods…

Before the computer age, games were played in the physical world where players would have to interact with real objects and each other, triggering a series of emotions. Nowadays, the computer games have become one of the most popular forms…

Wheeled bipedal robots are emerging as flexible platforms for field exploration. However, head instability induced by uneven terrain can degrade the accuracy of onboard sensors or damage fragile payloads. Existing research primarily focuses…

The cyclotactor is a novel platform for finger-based tactile interaction research. The operating principle is to track vertical fingerpad position above a freely approachable surface aperture, while directly projecting a force on the same…

We present Sim-on-Wheels, a safe, realistic, and vehicle-in-loop framework to test autonomous vehicles' performance in the real world under safety-critical scenarios. Sim-on-wheels runs on a self-driving vehicle operating in the physical…

We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…

A brain-computer interface (BCI) is a system that allows a person to communicate or control the surroundings without depending on the brain's normal output pathways of peripheral nerves and muscles. A lot of successful applications have…

Many animals, and an increasing number of artificial agents, display sophisticated capabilities to perceive and manipulate objects. But human beings remain distinctive in their capacity for flexible, creative tool use -- using objects in…

We aim to build complex humanoid agents that integrate perception, motor control, and memory. In this work, we partly factor this problem into low-level motor control from proprioception and high-level coordination of the low-level skills…

Shared control allows the human driver to collaborate with an assistive driving system while retaining the ability to make decisions and take control if necessary. However, human-vehicle teaming and planning are challenging due to…

We here present work a generalized low-level technical framework aimed to provide musical biofeedback in post-stroke balance and gait rehabilitation, built by an iterative user-centered process. The framework comprises wireless wearable…

In computer animation, driving a simulated character with lifelike motion is challenging. Current generative models, though able to generalize to diverse motions, often pose challenges to the responsiveness of end-user control. To address…

We present a hybrid control framework for solving a motion planning problem among a collection of heterogenous agents. The proposed approach utilizes a finite set of low-level motion primitives, each based on a piecewise affine feedback…

Community participation is an important aspect of an individuals physical and mental well-being. This participation is often limited for persons with disabilities, especially those with ambulatory impairments due to the inability to…

Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…

The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling…