Related papers: Task-space Synergies for Reaching using Upper-limb…
Data gloves play a crucial role in study of human grasping, and could provide insights into grasp synergies. Grasp synergies lead to identification of underlying patterns to develop control strategies for hand exoskeletons. This paper…
A number of studies have proposed to use domain adaptation to reduce the training efforts needed to control an upper-limb prosthesis exploiting pre-trained models from prior subjects. These studies generally reported impressive reductions…
Embodiment of users within robotic systems has been explored in human-robot interaction, most often in telepresence and teleoperation. In these applications, synchronized visuomotor feedback can evoke a sense of body ownership and agency,…
Low-cost sensing gloves for reconstruction posture provide measurements which are limited under several regards. They are generated through an imperfectly known model, are subject to noise, and may be less than the number of Degrees of…
Dynamic motions of humans and robots are widely driven by posture-dependent nonlinear interactions between their degrees of freedom. However, these dynamical effects remain mostly overlooked when studying the mechanisms of human movement…
We studied the performance of a robotic orthosis designed to assist the paretic hand after stroke. It is wearable and fully user-controlled, serving two possible roles: as a therapeutic tool that facilitates device mediated hand exercises…
We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a robot flexibility to generate smooth and feasible motions;…
Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…
In this paper, we investigate the task-space consensus problem for multiple robotic systems with both the uncertain kinematics and dynamics and address two main issues, i.e., the separation of the kinematic and dynamic loops in the case of…
State-of-the-art motorized hand prostheses are endowed with actuators able to provide independent and proportional control of as many as six degrees of freedom (DOFs). The control signals are derived from residual electromyographic (EMG)…
Without finger function, people with C5-7 spinal cord injury (SCI) regularly utilize wrist extension to passively close the fingers and thumb together for grasping. Wearable assistive grasping devices often focus on this familiar…
Individuals with upper limb mobility impairments often require assistive technologies to perform activities of daily living. While gaze-tracking has emerged as a promising method for robotic assistance, existing solutions lack sufficient…
Conjoined collaborative robots, functioning as supernumerary robotic bodies (SRBs), can enhance human load tolerance abilities. However, in tasks involving physical interaction with humans, users may still adopt awkward, non-ergonomic…
Operational skill learning, inherently physical and reliant on hands-on practice and kinesthetic feedback, has yet to be effectively replicated in large language model (LLM)-supported training. Current LLM training assistants primarily…
The high prevalence of work-related musculoskeletal disorders (WMSDs) could be addressed by optimizing Human-Robot Collaboration (HRC) frameworks for manufacturing applications. In this context, this paper proposes two hypotheses for…
This paper presents a novel neuromorphic control architecture for upper-limb prostheses that combines surface electromyography (sEMG) with gaze-guided computer vision. The system uses a spiking neural network deployed on the neuromorphic…
The recognition of actions performed by humans and the anticipation of their intentions are important enablers to yield sociable and successful collaboration in human-robot teams. Meanwhile, robots should have the capacity to deal with…
The notion of symbiosis has been increasingly mentioned in research on physically coupled human-machine systems. Yet, a uniform specification on which aspects constitute human-machine symbiosis is missing. By combining the expertise of…
Sit-to-Stand (StS) is a fundamental daily activity that can be challenging for stroke survivors due to strength, motor control, and proprioception deficits in their lower limbs. Existing therapies involve repetitive StS exercises, but these…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…