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In recent years, real-time control of prosthetic hands has gained a great deal of attention. In particular, real-time analysis of Electromyography (EMG) signals has several challenges to achieve an acceptable accuracy and execution delay.…
Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact…
Sensor signals acquired in the industrial process contain rich information which can be analyzed to facilitate effective monitoring of the process, early detection of system anomalies, quick diagnosis of fault root causes, and intelligent…
State-of-the-art robotic hand prosthetics generate finger and wrist movement through pattern recognition (PR) algorithms using features of forearm electromyogram (EMG) signals, but re- quires extensive training and is prone to poor…
Electromyography (EMG) signal analysis is a popular method for controlling prosthetic and gesture control equipment. For portable systems, such as prosthetic limbs, real-time low-power operation on embedded processors is critical, but to…
This paper presents a new technique to control highly redundant mechanical systems, such as humanoid robots. We take inspiration from two approaches. Prioritized control is a widespread multi-task technique in robotics and animation: tasks…
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…
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…
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…
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…
The hand is one of the most complex and important parts of the human body. The dexterity provided by its multiple degrees of freedom enables us to perform many of the tasks of daily living which involve grasping and manipulating objects of…
Intuitive control of prostheses relies on training algorithms to correlate biological recordings to motor intent. The quality of the training dataset is critical to run-time performance, but it is difficult to label hand kinematics…
The creation of unique control methods for a hand prosthesis is still a problem that has to be addressed. The best choice of a human-machine interface (HMI) that should be used to enable natural control is still a challenge. Surface…
In this paper, we address force-aware control and force distribution in robotic platforms with multi-fingered hands. Given a target goal and force estimates from tactile sensors, we design a controller that adapts the motion of the torso,…
Electromyography (EMG) is a measure of muscular electrical activity and is used in many clinical/biomedical disciplines and modern human computer interaction. Myo-electric prosthetics analyze and classify the electrical signals recorded…
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…
The integration of advanced control strategies into prosthetic hands is essential to improve their adaptability and performance. In this study, we present an implementation of a Model Predictive Control (MPC) strategy to regulate the…
Achieving highly accurate dynamic or simulator models that are close to the real robot can facilitate model-based controls (e.g., model predictive control or linear-quadradic regulators), model-based trajectory planning (e.g., trajectory…
Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many…
This paper presents a sensorized vision-enabled prosthetic hand aimed at replicating a natural hand's performance, functionality, appearance, and comfort. The design goal was to create an accessible substitution with a user-friendly…