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Brain-computer interface allows people who have lost their motor skills to control robot limbs based on electroencephalography. Most BCIs are guided only by visual feedback and do not have somatosensory feedback, which is an important…
The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to develop a flexible, actuated backbone for quadruped robots. In this work, model-predictive control is used to track a trajectory…
As automation and mobile robotics reshape work environments, rising expectations for productivity increase cognitive demands on human operators, leading to potential stress and cognitive overload. Accurately assessing an operator's mental…
In this paper, we propose and evaluate a novel human-machine interface (HMI) for controlling a standing mobility vehicle or person carrier robot, aiming for a hands-free control through upper-body natural postures derived from gaze tracking…
Assistance robots are the future for people who need daily care due to limited mobility or being wheelchair-bound. Current solutions of attaching robotic arms to motorized wheelchairs only provide limited additional mobility at the cost of…
Eye-GUIDE is an assistive communication tool designed for the paralyzed or physically impaired people who were unable to move parts of their bodies especially people whose communications are limited only to eye movements. The prototype…
Recent research has focused on the risks associated with poor sitting posture and the impact of sitting on biological parameters, such as heart rate because prolonged sitting is common across all ages and professions. In this work, we…
Mobility impairment caused by limb loss is a significant challenge faced by millions of individuals worldwide. The development of advanced assistive technologies, such as prosthetic devices, has the potential to greatly improve the quality…
Unlike their biological cousins, the majority of existing quadrupedal robots are constructed with rigid chassis. This results in motion that is either beetle-like or distinctly robotic, lacking the natural fluidity characteristic of…
Robotics has shown significant potential in assisting people with disabilities to enhance their independence and involvement in daily activities. Indeed, a societal long-term impact is expected in home-care assistance with the deployment of…
Recent progress in humanoid robots has unlocked agile locomotion skills, including backflipping, running, and crawling. Yet it remains challenging for a humanoid robot to perform forceful manipulation tasks such as moving objects, wiping,…
In this paper we introduce a novel approach that enables users to interact with a mobile robot in a natural manner. The proposed interaction system does not require any specific infrastructure or device, but relies on commonly utilized…
This paper launches a new effort at modeling programmer attention by predicting eye movement scanpaths. Programmer attention refers to what information people intake when performing programming tasks. Models of programmer attention refer to…
Continuous assessment of task difficulty and mental workload is essential in improving the usability and accessibility of interactive systems. Eye tracking data has often been investigated to achieve this ability, with reports on the…
Brain-controlled robots are a promising new type of assistive device for severely impaired persons. Little is however known about how to optimize the interaction of humans and brain-controlled robots. Information about the human's perceived…
Eye tracking is an important tool with a wide range of applications in Virtual, Augmented, and Mixed Reality (VR/AR/MR) technologies. State-of-the-art eye tracking methods are either reflection-based and track reflections of sparse point…
Assessing the physical condition in rehabilitation scenarios is a challenging problem, since it involves Human Activity Recognition (HAR) and kinematic analysis methods. In addition, the difficulties increase in unconstrained rehabilitation…
The coupling of human movement dynamics with the function and design of wearable assistive devices is vital to better understand the interaction between the two. Advanced neuromuscular models and optimal control formulations provide the…
Blind people face a lot of problems in their daily routines. They have to struggle a lot just to do their day-to-day chores. In this paper, we have proposed a system with the objective to help the visually impaired by providing audio aid…
To design data visualizations that are easy to comprehend, we need to understand how people with different interests read them. Computational models of predicting scanpaths on charts could complement empirical studies by offering estimates…