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The brain continually reorganizes its functional network to adapt to post-stroke functional impairments. Previous studies using static modularity analysis have presented global-level behavior patterns of this network reorganization.…
Keeping the stability can be counted as the essential ability of a humanoid robot to step out of the laboratory to work in our real environment. Since humanoid robots have similar kinematic to a human, humans expect these robots to be…
Neurorehabilitation conventionally relies on the interaction between a patient and a physical therapist. Robotic systems can improve and enrich the physical feedback provided to patients after neurological injury, but they under-utilize the…
Small continuous sensory and mechanical perturbations have often been used to identify properties of the closed-loop neural control of posture and other systems that are approximately linear time invariant. Here we extend this approach to…
Digitally presenting physiological signals as biofeedback to users raises awareness of both body and mind. This paper describes the effectiveness of conveying a physiological signal often overlooked for communication: breathing. We present…
Using lower-limbs exoskeletons provides potential advantages in terms of productivity and safety associated with reduced stress. However, complex issues in human-robot interaction are still open, such as the physiological effects of…
This vision paper presents the case for MUSIC, a programmable framework for building distributed mobile IoT applications for urban sensing. The Mobile Urban Sensing, Inference and Control (MUSIC) framework is contextualized for scenarios…
Mindfulness training is widely recognized for its benefits in reducing depression, anxiety, and loneliness. With the rise of smartphone-based mindfulness apps, digital meditation has become more accessible, but sustaining long-term user…
Designing generalizable control policies for lower-limb exoskeletons remains fundamentally constrained by exhaustive data collection or iterative optimization procedures, which limit accessibility to clinical populations. To address this…
The application of machine-learning solutions to movement assessment from skeleton videos has attracted significant research attention in recent years. This advancement has made rehabilitation at home more accessible, utilizing movement…
Any person in his/her daily life activities experiences different kinds and various amounts of mental stress which has a destructive effect on their performance. Therefore, it is crucial to come up with a systematic way of stress management…
Online system identification algorithms are widely used for monitoring, diagnostics and control by continuously adapting to time-varying dynamics. Typically, these algorithms consider a model structure that lacks parsimony and offers…
The ability of animals to interact with complex dynamics is unmatched in robots. Especially important to the interaction performances is the online adaptation of body dynamics, which can be modeled as an impedance behaviour. However, the…
Neurological diseases are observed in approximately one billion people worldwide. A further increase is foreseen at the global level as a result of population growth and aging. Individuals with neurological disorders often experience…
Supernumerary robotic arms (SRAs) can be used as the third arm to complement and augment the abilities of human users. The user carrying a SRA forms a connected kinodynamic chain, which can be viewed as a special class of floating-base…
Maintaining an upright stance represents a complex task, which is achieved by integrating sensory information from the visual, vestibular and somatosensory systems. When one of these sensory inputs becomes unavailable and/or inaccurate…
Current technologies have enabled us to track and quantify our physical state and behavior. Self-tracking aims to achieve increased awareness to decrease undesired behaviors and lead to a healthier lifestyle. However, inappropriately…
Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstation-like counterparts. However, the field is generally lacking effective methods by which the user can operate the device: such…
Smart rings have emerged as uniquely convenient devices for continuous physiological and behavioral sensing, offering unobtrusive, constant access to metrics such as heart rate, motion, and skin temperature. Yet most commercial solutions…
In this paper, a hierarchical and robust framework for learning bipedal locomotion is presented and successfully implemented on the 3D biped robot Digit built by Agility Robotics. We propose a cascade-structure controller that combines the…