Related papers: Robotic Cane as a Soft SuperLimb for Elderly Sit-t…
In human-robot systems, ensuring safety during force control in the presence of both internal and external disturbances is crucial. As a typical loosely coupled floating-base robot system, the supernumerary robotic leg (SRL) system is…
Prosthesis users can regain partial limb functionality, however, full natural limb mobility is rarely restored, often resulting in compensatory movements that lead to discomfort, inefficiency, and long-term physical strain. To address this…
Guidance robots that can guide people and avoid various obstacles, could potentially be owned by more visually impaired people at a fairly low cost. Most of the previous guidance robots for the visually impaired ignored the human response…
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodologies that take full advantage of body compliance. Currently…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
This paper delineates the formulation and verification of an innovative robotic forearm and elbow design, mirroring the intricate biomechanics of human skeletal and ligament systems. Conventional robotic models often undervalue the…
Human limb motion tracking and recognition plays an important role in medical rehabilitation training, lower limb assistance, prosthetics design for amputees, feedback control for assistive robots, etc. Lightweight wearable sensors,…
We conducted a scoping review to map the rapidly evolving landscape of wearable and ambient sensing technologies for monitoring people with dementia across home and institutional settings. We analyzed empirical sensing studies (2015-2025)…
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…
To help the blind people walk to the destination efficiently and safely in indoor environment, a novel wearable navigation device is presented in this paper. The locating, way-finding, route following and obstacle avoiding modules are the…
Effective methods of preventing falls significantly improve the quality of life of the Elderly. Nowadays, people focus mainly on the proper provision of the apartment with handrails and fall detection systems once they have occurred. The…
Age-related mobility decline is frequently accompanied by a redistribution of joint kinetics, where older adults compensate for reduced ankle function by increasing demand on the hip. Paradoxically, this compensatory shift typically…
Mobile manipulation tasks are one of the key challenges in the field of search and rescue (SAR) robotics requiring robots with flexible locomotion and manipulation abilities. Since the tasks are mostly unknown in advance, the robot has to…
The physically impaired commonly have difficulties performing simple routine tasks without relying on other individuals who are not always readily available and thus make them strive for independence. While their impaired abilities can in…
Musculoskeletal modeling and simulations enable the accurate description and analysis of the movement of biological systems with applications such as rehabilitation assessment, prosthesis, and exoskeleton design. However, the widespread…
Socially assistive robotics (SAR) research has shown great potential for supplementing and augmenting therapy for children with autism spectrum disorders (ASD). However, the vast majority of SAR research has been limited to short-term…
With the projected surge in the elderly population, service robots offer a promising avenue to enhance their well-being in elderly care homes. Such robots will encounter complex scenarios which will require them to perform decisions with…
This paper studies the design, control, and learning of a novel robotic limb that produces overconstrained locomotion by employing the Bennett linkage for motion generation, capable of parametric reconfiguration between a reptile- and…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
Soft robotic hands promise to provide compliant and safe interaction with objects and environments. However, designing soft hands to be both compliant and functional across diverse use cases remains challenging. Although co-design of…