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Personalizing medical devices such as lower limb wearable robots is challenging. While the initial feasibility of automating the process of knee prosthesis control parameter tuning has been demonstrated in a principled way, the next…
Estimating a soft robot's pose and applied forces, also called proprioception, is crucial for safe interaction of the robot with its environment. However, most solutions for soft robot proprioception use dedicated sensors, particularly for…
Inflated continuum robots are promising for a variety of navigation tasks, but controlling their motion with a small number of actuators is challenging. These inflated beam robots tend to buckle under compressive loads, producing extremely…
PID control is commonly utilized in an active suspension system to achieve desirable chassis attitude, where, due to delays, feedback information has much difficulty regulating the roll and pitch behavior, and stabilizing the chassis…
In this paper, we propose to use a nonlinear adaptive PID controller to regulate the joint variables of a mobile manipulator. The motion of the mobile base forces undue disturbances on the joint controllers of the manipulator. In designing…
Nonlinear forces allow motion of a mechanical oscillator to be squeezed below the zero-point motion. Of existing methods, mechanical parametric amplification is relatively accessible, but previously thought to be limited to 3dB of squeezing…
Artificial muscles are essential for compliant musculoskeletal robotics but complicate control due to nonlinear multiphysics dynamics. Hydraulically amplified electrostatic (HASEL) actuators, a class of soft artificial muscles, offer high…
This paper investigates the complex nonlinear dynamics of an optomechanical system featuring an optical cavity coupled to two mechanical resonators interconnected by a phase-dependent interaction. We specifically explore the role of this…
This work presents a new fiberless soft pneumatic actuator that can work multifunctional and bidirectional, and its embedded sensors give it a self-proprioception ability. This actuator works based on the idea of employing helical pressure…
The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional lumped-parameter model that replaces the link…
This paper presents a novel framework for real-time human action recognition in industrial contexts, using standard 2D cameras. We introduce a complete pipeline for robust and real-time estimation of human joint kinematics, input to a…
We propose a sensorization method for soft pneumatic actuators that uses an embedded microphone and speaker to measure different actuator properties. The physical state of the actuator determines the specific modulation of sound as it…
In this paper, an adaptive nonlinear strategy for the motion and force control of flexible manipulators is proposed. The approach provides robust motion control until contact is detected when force control is then available--without any…
We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component…
While rigid robots are extensively used in various applications, they are limited in the tasks they can perform and can be unsafe in close human-robot interactions. Soft robots on the other hand surpass the capabilities of rigid robots in…
This paper presents an approach for detecting unilateral arm paralysis/weakness using kinematic data. Our method employs temporal convolution networks and recurrent neural networks, guided by knowledge distillation, where we use inertial…
This study tackles the representative yet challenging contact-rich peg-in-hole task of robotic assembly, using a soft wrist that can operate more safely and tolerate lower-frequency control signals than a rigid one. Previous studies often…
High-speed machinery is often designed to pass several $"$critical$"$ speeds, where vibration levels can be very high. To reduce vibrations, rotors usually undergo a mass balancing process, where the machine is rotated at its full speed…
Variable impedance control is advantageous for physical human-robot interaction to improve safety, adaptability and many other aspects. This paper presents a gain-scheduled variable stiffness control approach under strict frequency-domain…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…