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Recent literature suggests that the surface electromyography (sEMG) signals have non-stationary statistical characteristics specifically due to random nature of the covariance. Thus suitability of a statistical model for sEMG signals is…
Research on assistive technology, rehabilitation, and prosthesis requires the understanding of human machine interaction, in which human muscular properties play a pivotal role. This paper studies a nonlinear agonistic-antagonistic muscle…
Adversarial training suffers from robust overfitting, a phenomenon where the robust test accuracy starts to decrease during training. In this paper, we focus on reducing robust overfitting by using common data augmentation schemes. We…
The ability to accomplish manipulation and locomotion tasks in the presence of significant time-varying external loads is a remarkable skill of humans that has yet to be replicated convincingly by humanoid robots. Such an ability will be a…
Impedance control and specifically stiffness control are widely applied for physical human-robot interaction. The series elastic actuator (SEA) provides inherent compliance, safety and further benefits. This paper aims to improve the…
Physical human-robot interactions (pHRIs) can improve robot autonomy and reduce physical demands on humans. In this paper, we consider a collaborative task with a considerably long object and no prior knowledge of the object's parameters.…
The modeling and simulation of coupled neuromusculoskeletal-exoskeletal systems play a crucial role in human biomechanical analysis, as well as in the design and control of exoskeletons. However, conventional dynamic simulation frameworks…
Using shear wave elastography, we measure the changes in the wave speed with the stress produced by a striated muscle during isometric voluntary contraction. To isolate the behaviour of an individual muscle from complementary or…
Modeling and control of the human musculoskeletal system is important for understanding human motor functions, developing embodied intelligence, and optimizing human-robot interaction systems. However, current human musculoskeletal models…
While the musculoskeletal humanoid has various biomimetic benefits, its complex modeling is difficult, and many learning control methods have been developed. However, for the actual robot, the hysteresis of its joint angle tracking is still…
We present a Body Measurement network (BMnet) for estimating 3D anthropomorphic measurements of the human body shape from silhouette images. Training of BMnet is performed on data from real human subjects, and augmented with a novel…
Epilepsy is a common disease of the nervous system. Timely prediction of seizures and intervention treatment can significantly reduce the accidental injury of patients and protect the life and health of patients. This paper presents a…
Human body fitting, which aligns parametric body models such as SMPL to raw 3D point clouds of clothed humans, serves as a crucial first step for downstream tasks like animation and texturing. An effective fitting method should be both…
The robotic assembly represents a group of benchmark problems for reinforcement learning and variable compliance control that features sophisticated contact manipulation. One of the key challenges in applying reinforcement learning to…
Wearable exoskeletons can augment human strength and reduce muscle fatigue during specific tasks. However, developing personalized and task-generalizable assistance algorithms remains a critical challenge. To address this, a meta-imitation…
Kinesthetic garments provide physical feedback on body posture and motion through tailored distributions of reinforced material. Their ability to selectively stiffen a garment's response to specific motions makes them appealing for…
This paper proposes a novel 3D graphical representation for impedance control, called the impedance space, to foster the analysis of the dynamic behavior of robotic compliant controllers. The method overcomes limitations of existing 2D…
The complex ways in which humans utilize their bodies in sports and martial arts are remarkable, and human motion analysis is one of the most effective tools for robot body design and control. On the other hand, motion analysis is not easy,…
Electrical impedance tomography aims at reconstructing the conductivity inside a physical body from boundary measurements of current and voltage at a finite number of contact electrodes. In many practical applications, the shape of the…
Accurate EMG-driven musculoskeletal (MSK) modeling is critical for biomechanics, rehabilitation, and assistive technology. However, most models calibrate parameters under a single load, ignoring the fact that tasks with similar kinematics…