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Modeling and control of the human musculoskeletal system is important for understanding human motor functions, developing embodied intelligence, and optimizing human-robot interaction systems. However, current human musculoskeletal models…

With robots increasingly operating in human-centric environments, ensuring soft and safe physical interactions, whether with humans, surroundings, or other machines, is essential. While compliant hardware can facilitate such interactions,…

The efficient implementation of many-body interactions in superconducting circuits allows for the realization of multipartite entanglement and topological codes, as well as the efficient simulation of highly correlated fermionic systems. We…

The human somatosensory cortex is intimately linked to other central brain functions such as vision, audition, mechanoreception, and motor planning and control. These links are established through brain learning, and display a considerable…

Close and continuous interaction with rich contacts is a crucial aspect of human activities (e.g. hugging, dancing) and of interest in many domains like activity recognition, motion prediction, character animation, etc. However, acquiring…

In this paper, we consider the problem of multirotor flying robots physically interacting with the environment under wind influence. The result are the first algorithms for simultaneous online estimation of contact and aerodynamic wrenches…

Motion retargeting from humans to human-like artificial agents is becoming increasingly important as humanoid robots grow more capable. However, most existing approaches focus only on reproducing kinematics and ignore the rich sensorimotor…

Human conversation involves continuous exchanges of speech and nonverbal cues such as head nods, gaze shifts, and facial expressions that convey attention and emotion. Modeling these bidirectional dynamics in 3D is essential for building…

We propose a new approach allowing visio-haptic interaction with a FE model of a human liver having both non-linear geometric and material properties. The material properties used in the model are extracted from the experimental data of pig…

Identifying physical traits and emotions based on system-sensed physical activities is a challenging problem in the realm of human-computer interaction. Our work contributes in this context by investigating an underlying connection between…

This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…

In this letter, we propose a whole-body control strategy for humanoid robots in multi-contact settings that enables switching between fixed and sliding contacts under active balance. We compute, in real-time, a safe center-of-mass position…

Numerical and analytical methods are developed for the investigation of contact sets in electrostatic-elastic deflections modeling micro-electro mechanical systems. The model for the membrane deflection is a fourth-order semi-linear partial…

In collaborative tasks, people rely both on verbal and non-verbal cues simultaneously to communicate with each other. For human-robot interaction to run smoothly and naturally, a robot should be equipped with the ability to robustly…

In this paper, we introduce a new method for the task of interaction transfer. Given an example interaction between a source object and an agent, our method can automatically infer both surface and spatial relationships for the agent and…

Vehicle pedestrian communication is extremely important when developing autonomy for an autonomous vehicle. Enabling bidirectional nonverbal communication between pedestrians and autonomous vehicles will lead to an improvement of…

The realistic modelling of medical interventions is the key requirement for development of high-fidelity medical simulators. In this work, a parameterized model suitable for real-time haptic feedback of needle interaction with tissue has…

Biomechanical models allow for diverse simulations of user movements in interaction. Their performance depends critically on the careful design of reward functions, yet the interplay between reward components and emergent behaviours remains…

Recently, radical progress in machine learning (ML) has revolutionized computational materials science, enabling unprecedentedly rapid materials discovery and property prediction, but the quantum many-body problem -- which is the key to…

Learning to operate a vehicle is generally accomplished by forming a new cognitive map between the body motions and extrapersonal space. Here, we consider the challenge of remapping movement-to-space representations in survivors of spinal…