Related papers: Auxilio and Beyond: Comparative Evaluation, Usabil…
A realistic human kinematic model that satisfies anatomical constraints is essential for human-robot interaction, biomechanics and robot-assisted rehabilitation. Modeling realistic joint constraints, however, is challenging as human arm…
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…
Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing…
In a contemporary world, people become dependent on electronic devices. Technologies help to clarification and structure life in many ways to meet the need of the children oriented requirements. The children suffering from disabilities…
The body structure of an anatomically correct tendon-driven musculoskeletal humanoid is complex, and the difference between its geometric model and the actual robot is very large because expressing the complex routes of tendon wires in a…
Reliance on wheelchairs after spinal cord injury (SCI) leads to many medical co-morbidities. Treatment of these conditions contributes to the majority of SCI health care costs. Restoring able-body-like ambulation after SCI may reduce the…
Wi-Fi channel state information (CSI) has become a promising solution for non-invasive breathing and body motion monitoring during sleep. Sleep disorders of apnea and periodic limb movement disorder (PLMD) are often unconscious and fatal.…
Scaling dexterous robot learning is constrained by the difficulty of collecting high-quality demonstrations across diverse operators. Existing wearable interfaces often trade comfort and cross-user adaptability for kinematic fidelity, while…
BCI systems are able to communicate directly between the brain and computer using neural activity measurements without the involvement of muscle movements. For BCI systems to be widely used by people with severe disabilities, long-term…
Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic…
The physically impaired commonly have difficulties performing simple routine tasks without relying on other individuals who are not always readily available and thus make them strive for independence. While their impaired abilities can in…
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…
MEIGA is a module specially designed for people with tetraplegia or anyone who has very limited movement capacity in their upper limbs. MEIGA converts the user's head movements into mouse movements. To simulate keystrokes, it uses blinking,…
Lower limb exoskeletons show promise to assist human movement, but their utility is limited by controllers designed for discrete, predefined actions in controlled environments, restricting their real-world applicability. We present an…
This paper presents a wearable assistive device with the shape of a pair of eyeglasses that allows visually impaired people to navigate safely and quickly in unfamiliar environment, as well as perceive the complicated environment to…
Aerial Manipulator Systems (AMS) have garnered significant interest for their utility in aerial operations. Nonetheless, challenges related to the manipulator's limited stiffness and the coupling disturbance with manipulator movement…
Rehabilitation training for patients with motor disabilities usually requires specialized devices in rehabilitation centers. Home-based multi-purpose training would significantly increase treatment accessibility and reduce medical costs.…
This paper proposes a computational approach for generation of reference path for upper-limb exoskeletons considering the scapulohumeral rhythms of the shoulder. The proposed method can be used in upper-limb exoskeletons with 3 Degrees of…
Exoskeletons play a crucial role in assisting patients with varying mobility levels during rehabilitation. However, existing control strategies face challenges such as imprecise trajectory tracking, interaction torque oscillations, and…
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…