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Transjugular intrahepatic portosystemic shunt (TIPS) is an established procedure for portal hypertension, but provides variable survival outcomes and frequent overt hepatic encephalopathy (OHE), indicating the necessity of accurate…
Accurate recognition of human motion intention (HMI) is beneficial for exoskeleton robots to improve the wearing comfort level and achieve natural human-robot interaction. A classifier trained on labeled source subjects (domains) performs…
Computational models of how users perceive and act within a virtual or physical environment offer enormous potential for the understanding and design of user interactions. Cognition models have been used to understand the role of attention…
Assistive mobile robots are a transformative technology that helps persons with disabilities regain the ability to move freely. Although autonomous wheelchairs significantly reduce user effort, they still require human input to allow users…
Control of wheeled humanoid locomotion is a challenging problem due to the nonlinear dynamics and under-actuated characteristics of these robots. Traditionally, feedback controllers have been utilized for stabilization and locomotion.…
Shared dynamics models are important for capturing the complexity and variability inherent in Human-Robot Interaction (HRI). Therefore, learning such shared dynamics models can enhance coordination and adaptability to enable successful…
Wearable robots offer a promising solution for quantitatively monitoring gait and providing systematic, adaptive assistance to promote patient independence and improve gait. However, due to significant interpersonal and intrapersonal…
Applications of force control and motion planning often rely on an inverse dynamics model to represent the high-dimensional dynamic behavior of robots during motion. The widespread occurrence of low-velocity, small-scale, locally isotropic…
Brain-Machine Interaction (BMI) system motivates interesting and promising results in forward/feedback control consistent with human intention. It holds great promise for advancements in patient care and applications to neurorehabilitation.…
Individual-level human mobility prediction has emerged as a significant topic of research with applications in infectious disease monitoring, child, and elderly care. Existing studies predominantly focus on the microscopic aspects of human…
Robotic systems can enhance the amount and repeatability of physically guided motor training. Yet their real-world adoption is limited, partly due to non-intuitive trainer/therapist-trainee/patient interactions. To address this gap, we…
Accurate prediction of human movements is required to enhance the efficiency of physical human-robot interaction. Behavioral differences across various users are crucial factors that limit the prediction of human motion. Although recent…
When balancing, a humanoid robot can be easily subjected to unexpected disturbances like external pushes. In these circumstances, reactive movements as steps become a necessary requirement in order to avoid potentially harmful falling…
The robust balancing capability of humanoids is essential for mobility in real environments. Many studies focus on implementing human-inspired ankle, hip, and stepping strategies to achieve human-level balance. In this paper, a robust…
Design of active orthosis is a challenging problem from both the dynamic simulation and control points of view. The redundancy problem of the simultaneous human-orthosis actuation is an interesting exercise to solve concerning the…
Humanoid robots promise general-purpose assistance, yet real-world humanoid loco-manipulation remains challenging because it requires whole-body stability, end-effector dexterity, and contact-aware interaction under frequent contact…
Human-machine Interface (HMI) is critical for safety during automated driving, as it serves as the only media between the automated system and human users. To enable a transparent HMI, we first need to know how to evaluate it. However, most…
Wearable exoskeletons can augment human strength and reduce muscle fatigue during specific tasks. However, developing personalized and task-generalizable assistance algorithms remains a critical challenge. To address this, a meta-imitation…
Powered hip exoskeletons have shown the ability for locomotion assistance during treadmill walking. However, providing suitable assistance in real-world walking scenarios which involve changing terrain remains challenging. Recent research…
This paper presents a novel human-robot interaction (HRI) framework that enables intuitive gesture-driven control through a capacitance-based woven tactile skin. Unlike conventional interfaces that rely on panels or handheld devices, the…