Related papers: Preliminary investigation into how limb choice aff…
Estimating 3D human pose from a single image suffers from severe ambiguity since multiple 3D joint configurations may have the same 2D projection. The state-of-the-art methods often rely on context modeling methods such as pictorial…
An accurate estimate of limb position is necessary for movement. Where we localize our unseen hand after a reach depends on felt hand position, or proprioception, but often only predicted sensory consequences based on efference copies of…
When our eyes are presented with the same image, the brain processes it to view it as a single coherent one. The lateral shift in the position of our eyes, causes the two images to possess certain differences, which our brain exploits for…
Electromyogram (EMG) signals recorded from the skin surface enable intuitive control of assistive devices such as prosthetic limbs. However, in EMG-based motion recognition, collecting comprehensive training data for all target motions…
This paper introduces an upper limb postural optimization method for enhancing physical ergonomics and force manipulability during bimanual human-robot co-carrying tasks. Existing research typically emphasizes human safety or manipulative…
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…
Musculoskeletal humanoids are robots that closely mimic the human musculoskeletal system, offering various advantages such as variable stiffness control, redundancy, and flexibility. However, their body structure is complex, and muscle…
Learning or identifying dynamics from a sequence of high-dimensional observations is a difficult challenge in many domains, including reinforcement learning and control. The problem has recently been studied from a generative perspective…
Use-dependent bias is a phenomenon in human sensorimotor behavior whereby movements become biased towards previously repeated actions. Despite being well-documented, the reason why this phenomenon occurs is not yet clearly understood. Here,…
Lower limb amputees often suffer skin and tissue problems from using their prosthesis which is a challenging biomechanical problem. The finite element method (FEM) has previously been applied to analyse internal mechanical conditions of the…
This study proposes a reinforcement learning-based adaptive running motion simulation for a unilateral transtibial amputee with the flexibility of a leaf-spring-type sports prosthesis using hybrid-link system. The design and selection of…
We introduce a new dynamic model with the capability of recognizing both activities that an individual is performing as well as where that ndividual is located. Our model is novel in that it utilizes a dynamic graphical model to jointly…
Tendon-driven musculoskeletal humanoids typically have complex structures similar to those of human beings, such as ball joints and the scapula, in which encoders cannot be installed. Therefore, joint angles cannot be directly obtained and…
Different loading modes can significantly affect human gait, posture, and lower limb biomechanics. This study investigated the muscle activity intensity of the lower limb soleus muscle in the slope environment of young healthy adult male…
The ability to accurately identify human activities is essential for developing automatic rehabilitation and sports training systems. In this paper, large-scale exercise motion data obtained from a forearm-worn wearable sensor are…
Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial parameters have only been estimated in a lab environment…
Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects…
Visual perceptual tasks aim to predict human judgment of images (e.g., emotions invoked by images, image quality assessment). Unlike objective tasks such as object/scene recognition, perceptual tasks rely on subjective human assessments,…
The brachial plexus is a complex network of peripheral nerves that enables sensing from and control of the movements of the arms and hand. Nowadays, the coordination between the muscles to generate simple movements is still not well…
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…