Related papers: Physically interacting humans regulate muscle coac…
Physical Human-Machine Interaction plays a pivotal role in facilitating collaboration across various domains. When designing appropriate model-based controllers to assist a human in the interaction, the accuracy of the human model is…
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…
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…
In biological systems, sensing is not performed by the brain alone: the body deforms, vibrates, and filters external stimuli before they are transduced into neural signals. In engineered systems, this processing burden is placed largely on…
In this paper, we present a descriptor for human whole-body actions based on motion coordination. We exploit the principle, well known in neuromechanics, that humans move their joints in a coordinated fashion. Our coordination-based…
High-speed and high-acceleration movements are inherently hard to control. Applying learning to the control of such motions on anthropomorphic robot arms can improve the accuracy of the control but might damage the system. The inherent…
Variable stiffness actuators undergo lower peak force in contacts compared to their rigid counterparts, and are thus safer for human-robot interaction. Furthermore, they can store energy in their elastic element and can release it later to…
Humans exhibit a wide range of adaptive and robust dynamic motion behavior that is yet unmatched by autonomous control systems. These capabilities are essential for real-time behavior generation in cluttered environments. Recent work…
Small continuous sensory and mechanical perturbations have often been used to identify properties of the closed-loop neural control of posture and other systems that are approximately linear time invariant. Here we extend this approach to…
This review examines the roles of adaptation and synchronization in music performance, drawing on concepts from complex systems theory to understand the dynamic interactions between musicians, music, and listeners. Adaptation is explored…
Muscles sense internally generated and externally applied forces, responding to these in a coordinated hierarchical manner at different time scales. The center of the basic unit of the muscle, the sarcomeric M-band, is perfectly placed to…
Humans can leverage physical interaction to teach robot arms. As the human kinesthetically guides the robot through demonstrations, the robot learns the desired task. While prior works focus on how the robot learns, it is equally important…
Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…
The intrinsic biomechanical characteristic of the human upper limb plays a central role in absorbing the interactive energy during physical human-robot interaction (pHRI). We have recently shown that based on the concept of ``Excess of…
Modeling of physical human-robot collaborations is generally a challenging problem due to the unpredictive nature of human behavior. To address this issue, we present a data-efficient reinforcement learning framework which enables a robot…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
It is challenging to develop two thoughts at the same time or perform two uncorrelated motions simultaneously. This work looks specifically towards training humans to perform a 2:3 polyrhythmic bimanual ratio using haptic force feedback…
Moving a human body or a large and bulky object can require the strength of whole arm manipulation (WAM). This type of manipulation places the load on the robot's arms and relies on global properties of the interaction to succeed---rather…
The functional replication and actuation of complex structures inspired by nature is a longstanding goal for humanity. Creating such complex structures combining soft and rigid features and actuating them with artificial muscles would…
Active sensing is traditionally defined as the expenditure of energy, typically in the form of movement, for obtaining information. Here, we propose that the combination of reliance on adaptive sensors, the linkage between movement and…