Related papers: AugLimb: Compact Robotic Limb for Human Augmentati…
This study introduces i-GRIP, an innovative movement goal estimator designed to facilitate the control of assistive devices for grasping tasks in individuals with upperlimb impairments. The algorithm operates within a collaborative control…
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…
This study presents the design and the kinematic optimization of a novel, underactuated, linkage-based robotic hand exoskeleton to assist users in performing grasping tasks. The device has been designed to apply only normal forces to the…
The purpose of this research is to design, fabricate and test a tendon driven a continuum soft robot with three modular segments, each of which has a tunable stiffness enabled by layer jamming technology. Compared with previous studies, the…
Robot hands that imitate the shape of the human body have been actively studied, and various materials and mechanisms have been proposed to imitate the human body. Although the use of soft materials is advantageous in that it can imitate…
Grasping a variety of objects remains a key challenge in the development of versatile robotic systems. The human hand is remarkably dexterous, capable of grasping and manipulating objects with diverse shapes, mechanical properties, and…
In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…
In lunar and planetary exploration, legged robots have attracted significant attention as an alternative to conventional wheeled robots, which struggle to traverse rough and uneven terrain. To enable locomotion over highly irregular and…
Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulability, dexterity, and compliance. This paper proposes a new…
This paper proposes a novel operation for controlling a mobile robot using a head-mounted device. Conventionally, robots are operated using computers or a joystick, which creates limitations in usability and flexibility because control…
A human-in-the-loop system is proposed to enable collaborative manipulation tasks for person with physical disabilities. Studies show that the cognitive burden of subject reduces with increased autonomy of assistive system. Our framework…
By the recent spread of machine learning in the robotics field, a humanoid that can act, perceive, and learn in the real world through contact with the environment needs to be developed. In this study, as one of the choices, we propose a…
This work presents the computational design and validation of the Multi-Arm Relocatable Manipulator (MARM), a three-limb robot for space applications, with particular reference to the MIRROR (i.e., the Multi-arm Installation Robot for…
We present the design of a new robotic human augmentation system that will assist the operator in carrying a heavy payload, reaching and maintaining difficult postures, and ultimately better performing their job. The Extra Robotic Legs…
This paper presents ReGlove, a system that converts low-cost commercial pneumatic rehabilitation gloves into vision-guided assistive orthoses. Chronic upper-limb impairment affects millions worldwide, yet existing assistive technologies…
This paper presents AquaMILR+, an untethered limbless robot designed for agile navigation in complex aquatic environments. The robot features a bilateral actuation mechanism that models musculoskeletal actuation in many anguilliform…
Upper limb disability due to neurological disorders or other factors restricts computer interaction for affected individuals using a generic optical mouse. This work reports the findings of a comparative evaluation of Auxilio, a…
Assistive and Wearable Robotics have the potential to support humans with different types of motor impairments to become independent and fulfil their activities of daily living successfully. The success of these robot systems, however,…
Human motion analysis is used in many different fields and applications. Currently, existing systems either focus on one single limb or one single class of movements. Many proposed systems are designed to be used in an indoor controlled…
This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more…