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Human motor control remains agile and robust despite limited sensory information for feedback, a property attributed to the body's ability to perform morphological computation through muscle coordination with variable impedance. However, it…
Decoding multiple movements from the same limb using electroencephalographic (EEG) activity is a key challenge with applications for controlling prostheses in upper-limb amputees. This study investigates the classification of four hand…
Myoelectric prosthetic hands are intended to replace the function of the amputee's lost arm. Therefore, developing robotic prosthetics that can mimic not only the appearance and functionality of humans but also characteristics unique to…
Surface electromyography (sEMG) is a popular bio-signal used for controlling prostheses and finger gesture recognition mechanisms. Myoelectric prostheses are costly, and most commercially available sEMG acquisition systems are not suitable…
Varying contraction levels of muscles is a big challenge in electromyography-based gesture recognition. Some use cases require the classifier to be robust against varying force changes, while others demand to distinguish between different…
The upper limb of the body is a vital for various kind of activities for human. The complete or partial loss of the upper limb would lead to a significant impact on daily activities of the amputees. EMG carries important information of…
Recent progress in human-robot collaboration makes fast and fluid interactions possible, even when human observations are partial and occluded. Methods like Interaction Probabilistic Movement Primitives (ProMP) model human trajectories…
The grip force required to handle an object depends on the object's mass and the friction coefficient of its surface. The control of grip force in myoelectric prosthesis is crucial for handling objects adequately. In the current paper we…
Natural muscles provide mobility in response to nerve impulses. Electromyography (EMG) measures the electrical activity of muscles in response to a nerve's stimulation. In the past few decades, EMG signals have been used extensively in the…
Bypass sockets allow researchers to perform tests of prosthetic systems from the prosthetic user's perspective. We designed a modular upper-limb bypass socket with 3D-printed components that can be easily modified for use with a variety of…
Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee requires an active prosthesis, but has the potential to enable…
Surface electromyography provides a practical way to infer human movement intention from wearable muscle recordings, but models trained under a single acquisition setting often lose reliability when the user, session, electrode layout, or…
Although there has been recent progress in control of multi-joint prosthetic legs for rhythmic tasks such as walking, control of these systems for non-rhythmic motions and general real-world maneuvers is still an open problem. In this…
Although myoelectric prosthetic hands provide amputees with intuitive control, their reliance on many EMG sensors limits accessibility and makes them complex and expensive. To address this problem, this work presents a different perspective…
Gestures are an integral part of our daily interactions with the environment. Hand gesture recognition (HGR) is the process of interpreting human intent through various input modalities, such as visual data (images and videos) and…
Palpation of human tissue during Minimally Invasive Surgery is hampered due to restricted access. In this extended abstract, we present a variable stiffness and dynamic force range sensor that has the potential to address this challenge.…
We present PiMForce, a novel framework that enhances hand pressure estimation by leveraging 3D hand posture information to augment forearm surface electromyography (sEMG) signals. Our approach utilizes detailed spatial information from 3D…
Existing robotic lower-limb prostheses use autonomous control to address cyclic, locomotive tasks, but they are inadequate to operate the prosthesis for daily activities that are non-cyclic and unpredictable. To address this challenge, this…
This paper presents a novel approach to evaluating back support exoskeletons (BSEs) in workplace settings addressing the limitations of traditional methods like electromyography (EMG), which are impractical due to their sensitivity to…
We investigate the relationship between the extensor electromyogram (EMG) and tremor time series in physiological hand tremor by cross-spectral analysis. Special attention is directed to the phase spectrum and the effects of observational…