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Prosthetic hands can be used to support upper-body amputees. Myoelectric prosthesis, one of the externally-powered active prosthesis categories, requires proper processing units in addition to recording electrodes and instrumentation…
This work presents a system to benchmark humanoid posture control and balance performances under perturbed conditions. The specific benchmarking scenario consists, for example, of balancing upright stance while performing voluntary…
We have witnessed the emergence of several controller parameterizations and the corresponding synthesis methods, including Youla, system level, input-output, and many other new proposals. Meanwhile, under the same synthesis method, there…
Clinical myoelectric prostheses lack the sensory feedback and sufficient dexterity required to complete activities of daily living efficiently and accurately. Providing haptic feedback of relevant environmental cues to the user or imbuing…
Musicians delicately control their bodies to generate music. Sometimes, their motions are too subtle to be captured by the human eye. To analyze how they move to produce the music, we need to estimate precise 4D human pose (3D pose over…
The sit-to-stand movement is a key feature for wide adoption of powered lower limb orthoses for patients with complete paraplegia. In this paper we study the control of the ascending phase of the sit-to-stand movement for a minimally…
Model-based testing is a promising technology for black-box software and hardware testing, in which test cases are generated automatically from high-level specifications. Nowadays, systems typically consist of multiple interacting…
With the recent developments in machine intelligence and web technologies, new generative music systems are being explored for assisted composition using machine learning techniques on the web. Such systems are built for various tasks such…
This abstract describes the first public demonstration of feedback control and coordination of multiple physical systems over a dynamic multi-hop low-power wireless network with update intervals of tens of milliseconds. Our running system…
I/O conformance testing theories (e.g., ioco) are concerned with formally defining when observable output behaviors of an implementation conform to those permitted by a specification. Thereupon, several real-time extensions of ioco, usually…
We here present work a generalized low-level technical framework aimed to provide musical biofeedback in post-stroke balance and gait rehabilitation, built by an iterative user-centered process. The framework comprises wireless wearable…
We have built a 12DOF, passive-compliant legged, tailed biped actuated by four brushless DC motors. We anticipate that this machine will achieve varied modes of quasistatic and dynamic balance, enabling a broad range of locomotion tasks…
The paper deals with local robust feedback synthesis for systems with multidimensional control and unknown bounded perturbations. Using V.~I.~Korobov's controllability function method, we construct a bounded control which steers an…
In this paper we present a preliminary version of the ACCompanion, an expressive accompaniment system for MIDI input. The system uses a probabilistic monophonic score follower to track the position of the soloist in the score, and a linear…
Human communication is multimodal, with speech and gestures tightly coupled, yet most computational methods for generating speech and gestures synthesize them sequentially, weakening synchrony and prosody alignment. We introduce Gelina, a…
Expressive music performance rendering involves interpreting symbolic scores with variations in timing, dynamics, articulation, and instrument-specific techniques, resulting in performances that capture musical can emotional intent. We…
Humans and animals developed a sophisticated motor control apparatus and there is much evidence that it has a modular structure. The modularity offers a range of benefits, e.g. ability to learn dissociable motion styles without interference…
Generating natural and expressive human motions from textual descriptions is challenging due to the complexity of coordinating full-body dynamics and capturing nuanced motion patterns over extended sequences that accurately reflect the…
This paper proposes new practical design tools for the robust motion control systems based on disturbance observer (DOB). Although DOB has long been used in several motion control applications, it has insufficient analysis and design tools.…
Myoelectric prosthetic hands are typically controlled to move between discrete positions and do not provide sensory feedback to the user. In this work, we present and evaluate a closed-loop, continuous myoelectric prosthetic hand…