Related papers: Towards an understanding of how humans perceive st…
We have a limited understanding of how we integrate haptic information in real-time from our upper limbs to perform complex bimanual tasks, an ability that humans routinely employ to perform tasks of varying levels of difficulty. In order…
The utility of Human-in-the-loop telerobotic systems (HiLTS) is driven in part by the quality of feedback it can provide to the operator. While the dynamic interaction between robot and environment can often be sensed or modeled, the…
Creating haptic interfaces capable of rendering the rich sensation needed for dexterous manipulation is crucial for the advancement of human-in-the-loop telerobotic systems (HiLTS). One limiting factor has been the absence of detailed…
We propose a haptic system for virtual manipulation to provide feedback on the user's forearm instead of the fingertips. In addition to visual rendering of the manipulation with virtual fingertips, we employ a device to deliver normal or…
Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable…
Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and real-time sensory integration. This study presents a…
Grasping deformable objects with varying stiffness remains a significant challenge in robotics. Estimating the local stiffness of a target object is important for determining an optimal grasp pose that enables stable pickup without damaging…
Although robots with flexible bodies are superior in terms of the contact and adaptability, it is difficult to control them precisely. On the other hand, human beings make use of the surrounding environments to stabilize their bodies and…
This study presents the characterization and validation of the VIBES, a wearable vibrotactile device that provides high-frequency tactile information embedded in a prosthetic socket. A psychophysical characterization involving ten…
The natural impedance, or dynamic relationship between force and motion, of a human operator can determine the stability of exoskeletons that use interaction-torque feedback to amplify human strength. While human impedance is typically…
A plethora of biometric measures have been proposed in the past. In this paper we introduce a new potential biometric measure: the human tremor. We present a new method for identifying the user of a handheld device using characteristics of…
Variable stiffness actuators undergo lower peak force in contacts compared to their rigid counterparts, and are thus safer for human-robot interaction. Furthermore, they can store energy in their elastic element and can release it later to…
Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects which are vulnerable to deformations. A crucial problem is to estimate the physical…
Human joint dynamic stiffness plays an important role in the stability of performance augmentation exoskeletons. In this paper, we consider a new frequency domain model of the human joint dynamics which features a complex value stiffness.…
This paper presents the design, characterization and validation of a wearable haptic device able to convey skin stretch, force feedback, and a combination of both, to the user's arm. In this work, we carried out physical and perceptual…
Poor sitting habits have been identified as a risk factor to musculoskeletal disorders and lower back pain especially on the elderly, disabled people, and office workers. In the current computerized world, even while involved in leisure or…
Springs are commonly used in wearable robotic devices to provide assistive joint torque without the need for motors and batteries. However, different tasks (such as walking or running) and different users (such as athletes with strong legs…
Traditional approaches to measurement in upper-limb therapy have gaps that electronic sensing and recording can help fill. We highlight shortcomings in current kinematic recording devices, and we introduce a wrist sensing device that…
Kinesthetic illusions, which arise when muscle spindles are activated by vibration, provide a compact means of presenting kinesthetic sensations. Because muscle spindles contribute not only to sensing body movement but also to perceiving…
Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…