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The development of the works of the author about adaptive algorithms of teaching the robotic systems with the help of operator is described here. An operator is assumed to be an experience decision-maker and sane carrier of a target which…
Robot-assisted surgery has revolutionized the healthcare industry by providing surgeons with greater precision, reducing invasiveness, and improving patient outcomes. However, the success of these surgeries depends heavily on the robotic…
When a human performs a given specific task, it has been known that the central nervous system controls modularized muscle group, which is called muscle synergy. For human-robot interface design problem, therefore, the muscle synergy can be…
Force interaction is inevitable when robots face multiple operation scenarios. How to make the robot competent in force control for generalized operations such as multi-tasks still remains a challenging problem. Aiming at the…
In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algorithmic computations. We use a form of whole-body…
As Brain-computer interface (BCI) technology develops it is likely it may be incorporated into protocols that complement and supplement existing movements of the user. Two possible scenarios for such a control could be: the increasing…
As the proliferation of technology dramatically infiltrates all aspects of modern life, in many ways the world is becoming so dynamic and complex that technological capabilities are overwhelming human capabilities to optimally interact with…
Communication and computer interaction are important for autonomy in modern life. Unfortunately, these capabilities can be limited or inaccessible for the millions of people living with paralysis. While implantable brain-computer interfaces…
This paper introduces a new generalized control method designed for multi-degrees-of-freedom devices to help people with limited motion capabilities in their daily activities. The challenge lies in finding the most adapted strategy for the…
Collaborative human activities are grounded in social and moral norms, which humans consciously and subconsciously use to guide and constrain their decision-making and behavior, thereby strengthening their interactions and preventing…
Assistive robotic devices can increase the independence of individuals with motor impairments. However, each person is unique in their level of injury, preferences, and skills, which moreover can change over time. Further, the amount of…
One of the key issues in human-robot collaboration is the development of computational models that allow robots to predict and adapt to human behavior. Much progress has been achieved in developing such models, as well as control techniques…
In recent times, there have been significant advancements in utilizing the sensing capabilities of mobile devices for developing applications. The primary objective has been to enhance the way a user interacts with the application by making…
Soft growing robots are proposed for use in applications such as complex manipulation tasks or navigation in disaster scenarios. Safe interaction and ease of production promote the usage of this technology, but soft robots can be…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
Adaptive Brain-Computer interfaces (BCIs) have shown to improve performance, however a general and flexible framework to implement adaptive features is still lacking. We appeal to a generic Bayesian approach, called Active Inference (AI),…
Medical robotics includes assistive devices used by the physician in order to make his/her diagnostic or therapeutic practices easier and more efficient. This chapter focuses on such systems. It introduces the general field of…
Objective: Spinal cord injury (SCI) often leaves affected individuals unable to ambulate. Electroencephalogramme (EEG) based brain-computer interface (BCI) controlled lower extremity prostheses may restore intuitive and able-body-like…
Robotic minimally invasive interventions typically require using more than two instruments. We thus developed a foot pedal interface which allows the user to control a robotic arm (simultaneously to working with the hands) with four degrees…
We present a task-centered formal analysis of the relative power of several robot designs, inspired by the unique properties and constraints of micro-scale robotic systems. Our task of interest is object manipulation because it is a…