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This paper presents a novel neuromorphic control architecture for upper-limb prostheses that combines surface electromyography (sEMG) with gaze-guided computer vision. The system uses a spiking neural network deployed on the neuromorphic…
Millimeter-wave (mmWave) radar enables contactless respiratory sensing,yet fine-grained monitoring is often degraded by nonstationary interference from body micromotions.To achieve micromotion interference removal,we propose…
Millimeter-wave (mmWave) radar is increasingly being considered as an alternative to optical sensors for robotic primitives like simultaneous localization and mapping (SLAM). While mmWave radar overcomes some limitations of optical sensors,…
The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to the base surface. The method employs a…
Building robotic prostheses requires a sensor-based interface designed to provide the robotic hand with the control required to perform hand gestures. Traditional Electromyography (EMG) based prosthetics and emerging alternatives often face…
Most commercially available Light Detection and Ranging (LiDAR)s measure the distances along a 2D section of the environment by sequentially sampling the free range along directions centered at the sensor's origin. When the sensor moves…
Robots operating in populated environments encounter many different types of people, some of whom might have an advanced need for cautious interaction, because of physical impairments or their advanced age. Robots therefore need to…
We present a neuromorphic radar framework for real-time, low-power hand gesture recognition (HGR) using an event-driven architecture inspired by biological sensing. Our system comprises a 24 GHz Doppler radar front-end and a custom…
Machine learning methods rely on data. However, gathering suitable data can be challenging due to availability constraints, cost, or the need for domain expertise. Expanding datasets with additional sources is a common response to limited…
In this paper, an approach for gait assistance with a lower body exoskeleton is described. Two concepts, transparency and motion assistance, are combined. The transparent mode, where the system is following the user's free motion with a…
Synthetic Aperture Radar (SAR) utilizes the movement of the radar antenna over a specific area of interest to achieve higher spatial resolution imaging. In this paper, we aim to investigate the realization of SAR imaging for a stationary…
Tracking of rotation and translation of medical instruments plays a substantial role in many modern interventions. Traditional external optical tracking systems are often subject to line-of-sight issues, in particular when the region of…
Powered prostheses are capable of providing net positive work to amputees and have advanced in the past two decades. However, reducing amputee metabolic cost of walking remains an open problem. The Law of Intersegmental Coordination (ISC)…
Millimeter wave (mmWave) radar sensors are emerging as valid alternatives to cameras for the pervasive contactless monitoring of people in indoor spaces. However, commercial mmWave radars feature a limited range (up to $6$-$8$ m) and are…
Humanoid locomotion has advanced rapidly with deep reinforcement learning (DRL), enabling robust feet-based traversal over uneven terrain. Yet platforms beyond leg length remain largely out of reach because current RL training paradigms…
The perception of autonomous vehicles has to be efficient, robust, and cost-effective. However, cameras are not robust against severe weather conditions, lidar sensors are expensive, and the performance of radar-based perception is still…
Robust and accurate trajectory estimation of mobile agents such as people and robots is a key requirement for providing spatial awareness for emerging capabilities such as augmented reality or autonomous interaction. Although currently…
Although deep learning has significantly advanced the perception capabilities of intelligent transportation systems, railway applications continue to suffer from a scarcity of high-quality, annotated data for safety-critical tasks like…
Wearable exoskeletons hold transformative promise for restoring mobility across diverse users with muscular weakness or other impairments. However, their translation beyond laboratory environments remains limited by sensing systems that…
As a single-track mobile platform, bikebot (i.e., bicycle-based robot) has attractive navigation capability to pass through narrow, off-road terrain with high-speed and high-energy efficiency. However, running crossing step-like obstacles…