Related papers: Virtual Physical Coupling of Two Lower-Limb Exoske…

Although it has been shown that augmented multimodal feedback has a facilitatory effect on motor performance for motor learning and music training, the functionality of haptic feedback combined with other modalities in rhythmic movement…

Surgical training integrates several years of didactic learning, simulation, mentorship, and hands-on experience. Challenges include stress, technical demands, and new technologies. Orthopedic education often uses static materials like…

The lack of haptically aware upper-limb prostheses forces amputees to rely largely on visual cues to complete activities of daily living. In contrast, able-bodied individuals inherently rely on conscious haptic perception and automatic…

With the rapid development of Rehabilitation Lower Extremity Robotic Exoskeletons (RLEEX) technology, significant advancements have been made in Human-Robot Interaction (HRI) methods. These include traditional physical HRI methods that are…

Many kinds of lower-limb exoskeletons were developed for walking assistance. However, when controlling these exoskeletons, time-delay due to the computation time and the communication delays is still a general problem. In this research, we…

This paper proposes a hierarchical Lyapunov-based adaptive cascade control scheme for a lower-limb exoskeleton with control saturation. The proposed approach is composed by two control levels with cascade structure. At the higher layer of…

Hybrid systems, such as bipedal walkers, are challenging to control because of discontinuities in their nonlinear dynamics. Little can be predicted about the systems' evolution without modeling the guard conditions that govern transitions…

Falls are the leading cause of injury related hospitalization and mortality among older adults. Consequently, mitigating age-related declines in gait stability and reducing fall risk during walking is a critical goal for assistive devices.…

This paper presents a motion analysis framework for an athlete wearing sport-specific flexible prosthesis based on the soft-rigid hybrid-link system. Such a motion analysis is a challenging problem because we need to consider the…

Pseudo-haptics exploit carefully crafted visual or auditory cues to trick the brain into "feeling" forces that are never physically applied, offering a low-cost alternative to traditional haptic hardware. Here, we present a comparative…

Visual impairments create barriers to learning physical activities, since conventional training methods rely on visual demonstrations or often inadequate verbal descriptions. This research explores 3D-printed human body models to enhance…

In this paper, we propose an efficient approach to generate dynamic and versatile humanoid walking with non-constant center of mass (COM) height. We exploit the benefits of using reduced order models (ROMs) and stepping control to generate…

In the last two decades the scientific community has shown a great interest in understanding and shaping the interaction mechanisms between humans and robots. The interaction implies communication between two dyadic agents and, if the type…

Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…

This paper proposes a data-driven method for powered prosthesis control that achieves stable walking without the need for additional sensors on the human. The key idea is to extract the nominal gait and the human interaction information…

This paper introduces HoloBots, a mixed reality remote collaboration system that augments holographic telepresence with synchronized mobile robots. Beyond existing mixed reality telepresence, HoloBots lets remote users not only be visually…

Stroke patients often experience upper limb impairments that restrict their mobility and daily activities. Physical therapy (PT) is the most effective method to improve impairments, but low patient adherence and participation in PT…

This paper presents a study of the dynamic coupling between a user and a virtual character during body interaction. Coupling is directly linked with other dimensions, such as co-presence, engagement, and believability, and was measured in…

With the increasing spread of AR head-mounted displays suitable for everyday use, interaction with information becomes ubiquitous, even while walking. However, this requires constant shifts of our attention between walking and interacting…

In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem, real-world demonstrations have been limited to relatively…