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Artificial limbs are sophisticated devices to assist people with tasks of daily living. Despite advanced robotic prostheses demonstrating similar motion capabilities to biological limbs, users report them difficult and non-intuitive to use.…
Current orthopedic robotic systems largely focus on navigation, aiding surgeons in positioning a guiding tube but still requiring manual drilling and screw placement. The automation of this task not only demands high precision and safety…
Robot-assisted dressing is a popular but challenging topic in the field of robotic manipulation, offering significant potential to improve the quality of life for individuals with mobility limitations. Currently, the majority of research on…
Partial-assistance exoskeletons hold significant potential for gait rehabilitation by promoting active participation during (re)learning of normative walking patterns. Typically, the control of interaction torques in partial-assistance…
Robotic assistance in minimally invasive surgery can greatly enhance surgical precision and reduce surgeon fatigue. This paper presents a focused investigation on the kinematic and ergonomic design principles for a laparoscopic surgical…
Objective: Shoulder exoskeletons can effectively assist with overhead work. However, their impacts on muscle synergy remain unclear. The objective is to systematically investigate the effects of the shoulder exoskeleton on muscle synergies…
A method for cross-modality embedding of force profile and words is presented for synergistic coordination of verbal and haptic communication. When two people carry a large, heavy object together, they coordinate through verbal…
Designing effective rehabilitation strategies for upper extremities, particularly hands and fingers, warrants the need for a computational model of human motor learning. The presence of large degrees of freedom (DoFs) available in these…
In this work, we delve into the intricate synergy among non-prehensile actions like pushing, and prehensile actions such as grasping and throwing, within the domain of robotic manipulation. We introduce an innovative approach to learning…
Temporal alignment is an inherent task in most applications dealing with videos: action recognition, motion transfer, virtual trainers, rehabilitation, etc. In this paper we dive into the understanding of this task from a geometric point of…
I present the design, implementation and control of a novel, linkage-based, underactuated hand exoskeleton aimed to assist patients with hand disabilities during grasping tasks for robot assisted physical rehabilitation or robot assisted…
In this paper, we aim at improving human motion prediction during human-robot collaboration in industrial facilities by exploiting contributions from both physical and physiological signals. Improved human-machine collaboration could prove…
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…
Electromyography (EMG) is a measure of muscular electrical activity and is used in many clinical/biomedical disciplines and modern human computer interaction. Myo-electric prosthetics analyze and classify the electrical signals recorded…
Human-robot collaboration in surgery represents a significant area of research, driven by the increasing capability of autonomous robotic systems to assist surgeons in complex procedures. This systematic review examines the advancements and…
In this study, a new position control scheme for the tendon-sheath mechanism (TSM) which is used in flexible medical devices is presented. TSM is widely used in dexterous robotic applications because it can flexibly work in limited space,…
In this paper, we study task-oriented human grasp synthesis, a new grasp synthesis task that demands both task and context awareness. At the core of our method is the task-aware contact maps. Unlike traditional contact maps that only reason…
Robotic arms are highly common in various automation processes such as manufacturing lines. However, these highly capable robots are usually degraded to simple repetitive tasks such as pick-and-place. On the other hand, designing an optimal…
Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile bases with static manipulator arms. They combine these…
Mutual adaptation can significantly enhance overall task performance in human-robot co-transportation by integrating both the robot's and human's understanding of the environment. While human modeling helps capture humans' subjective…