Related papers: Task-space Synergies for Reaching using Upper-limb…
How can we train an assistive human-machine interface (e.g., an electromyography-based limb prosthesis) to translate a user's raw command signals into the actions of a robot or computer when there is no prior mapping, we cannot ask the user…
The visual functions of visual prostheses such as field of view, resolution and dynamic range, seriously restrict the person's ability to navigate in unknown environments. Implanted patients still require constant assistance for navigating…
Despite the growth of physically assistive robotics (PAR) research over the last decade, nearly half of PAR user studies do not involve participants with the target disabilities. There are several reasons for this -- recruitment challenges,…
Upper extremity motor impairment affects about 80\% of persons after strokes. For stroke rehabilitation, upper limb kinematic assessments have increasingly been used as primary or secondary outcome measures. Studying the upper extremity…
Motion planning for manipulators under task space constraints is difficult as it constrains the joint configurations to always lie on an implicitly defined manifold. It is possible to view task constrained motion planning as an optimization…
We propose a physics-based method for synthesizing dexterous hand-object interactions in a full-body setting. While recent advancements have addressed specific facets of human-object interactions, a comprehensive physics-based approach…
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…
Many industrial tasks-such as sanding, installing fasteners, and wire harnessing-are difficult to automate due to task complexity and variability. We instead investigate deploying robots in an assistive role for these tasks, where the robot…
Movement synchrony reflects the coordination of body movements between interacting dyads. The estimation of movement synchrony has been automated by powerful deep learning models such as transformer networks. However, instead of designing a…
Humans in contrast to robots are excellent in performing fine manipulation tasks owing to their remarkable dexterity and sensorimotor organization. Enabling robots to acquire such capabilities, necessitates a framework that not only…
The artificial hands for sociable robotics and prosthetics are expected to be touched by other people. Because the skin is the main interface during the contact, a need arises to duplicate humanlike characteristics for artificial skins for…
Humans frequently grasp, manipulate, and move objects. Interactive systems assist humans in these tasks, enabling applications in Embodied AI, human-robot interaction, and virtual reality. However, current methods in hand-object synthesis…
A realistic human kinematic model that satisfies anatomical constraints is essential for human-robot interaction, biomechanics and robot-assisted rehabilitation. Modeling realistic joint constraints, however, is challenging as human arm…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
This work has been conducted in the context of pattern-recognition-based control for electromyographic prostheses. It presents a k-nearest neighbour (kNN) classification technique for gesture recognition, extended by a proportionality…
Upper limb and hand functionality is critical to many activities of daily living and the amputation of one can lead to significant functionality loss for individuals. From this perspective, advanced prosthetic hands of the future are…
This work proposes a compact robotic limb, AugLimb, that can augment our body functions and support the daily activities. AugLimb adopts the double-layer scissor unit for the extendable mechanism which can achieve 2.5 times longer than the…
This article presents a new hand architecture with three under-actuated fingers. Each finger performs spatial movements to achieve more complex and varied grasping than the existing planar-movement fingers. The purpose of this hand is to…
Small obstacles on the ground often lead to a fall when caught with commercial prosthetic feet. Despite some recently developed feet can actively control the ankle angle, for instance over slopes, their flat and rigid sole remains a cause…
This paper presents a kinematic definition of a serialized Stewart platform designed for autonomous in-space assembly called an Assembler. The Assemblers architecture describes problems inherent to the inverse kinematics of over-actuated…