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Cognitive cooperative assistance in robot-assisted surgery holds the potential to increase quality of care in minimally invasive interventions. Automation of surgical tasks promises to reduce the mental exertion and fatigue of surgeons. In…
Pose detection is one of the fundamental steps for the recognition of human actions. In this paper we propose a novel trainable detector for recognizing human poses based on the analysis of the skeleton. The main idea is that a skeleton…
The complex ways in which humans utilize their bodies in sports and martial arts are remarkable, and human motion analysis is one of the most effective tools for robot body design and control. On the other hand, motion analysis is not easy,…
Accurate and rapid detection of gait phases is of utmost importance in achieving optimal performance of powered lower-limb prostheses and exoskeletons. With the increasing versatility and complexity of these robotic systems, there is a…
Multi-agent human-robot co-manipulation is a poorly understood process with many inputs that potentially affect agent behavior. This paper explores one such input known as interaction force. Interaction force is potentially a primary…
In the NeurIPS 2018 Artificial Intelligence for Prosthetics challenge, participants were tasked with building a controller for a musculoskeletal model with a goal of matching a given time-varying velocity vector. Top participants were…
Many robotic path planning problems are continuous, stochastic, and high-dimensional. The ability of a mobile manipulator to coordinate its base and manipulator in order to control its whole-body online is particularly challenging when self…
Assistive devices for indivuals with upper-limb movement often lack controllability and intuitiveness, in particular for grasping function. In this work, we introduce a novel user interface for grasping movement control in which the user…
The upper limb robotic exoskeleton is an electromechanical device which use to recover a patients motor dysfunction in the rehabilitation field. It can provide repetitive, comprehensive, focused, positive, and precise training to regain the…
Recently, robot assisted therapy devices are increasingly used for spinal cord injury (SCI) rehabilitation in assisting handicapped patients to regain their impaired movements. Assistive robotic systems may not be able to cure or fully…
Characterizing changes in inter-joint coordination presents significant challenges, as it necessitates the examination of relationships between multiple degrees of freedom during movements and their temporal evolution. Existing metrics are…
The recognition of actions performed by humans and the anticipation of their intentions are important enablers to yield sociable and successful collaboration in human-robot teams. Meanwhile, robots should have the capacity to deal with…
Wheelchairs and mobility devices have transformed our bodies into cybernic systems, enhancing our well-being by enabling individuals with reduced mobility to regain freedom. Notwithstanding, current interfaces of control primarily rely on…
This work presents a description of the EXOSMOOTH project, oriented to the benchmarking of lower limb exoskeletons performance. In the field of assisted walking by powered lower limb exoskeletons, the EXOSMOOTH project proposes an…
Advanced neural interfaces are transforming applications ranging from neuroscience research to diagnostic tools (for mental state recognition, tremor and seizure detection) as well as prosthetic devices (for motor and communication…
Collaborative robots (cobots) are widely used in industrial applications, yet extensive research is still needed to enhance human-robot collaborations and operator experience. A potential approach to improve the collaboration experience…
When we develop wearable assistive devices comfort and support are two main issues needed to be considered. In conventional design approaches, the degree of freedom of wearer's joint movement tends to be oversimplified. Accordingly, the…
Teleoperation interfaces are essential tools for enabling human control of robotic systems. Although a wide range of interfaces has been developed, a persistent gap remains between the level of performance humans can achieve through these…
Upper-limb exoskeletons are primarily designed to provide assistive support by accurately interpreting and responding to human intentions. In home-care scenarios, exoskeletons are expected to adapt their assistive configurations based on…
Prosthetic arms and hands that can be controlled by the user's electromyography (EMG) signals are emerging. Eventually, these advanced prosthetic devices will be expected to touch and be touched by other people. As realistic as they may…