Related papers: Computational Synthesis of Wearable Robot Mechanis…
Robots' behavior and performance are determined both by hardware and software. The design process of robotic systems is a complex journey that involves multiple phases. Throughout this process, the aim is to tackle various criteria…
To reproduce natural standing-up motion, recent studies have emphasized the importance of coordination between the assisting robot and the human. However, many non-wearable assistive devices have struggled to replicate natural motion…
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…
Prosthesis users can regain partial limb functionality, however, full natural limb mobility is rarely restored, often resulting in compensatory movements that lead to discomfort, inefficiency, and long-term physical strain. To address this…
Although part-based motion synthesis networks have been investigated to reduce the complexity of modeling heterogeneous human motions, their computational cost remains prohibitive in interactive applications. To this end, we propose a novel…
We present an algorithm to compute planar linkage topology and geometry, given a user-specified end-effector trajectory. Planar linkage structures convert rotational or prismatic motions of a single actuator into an arbitrarily complex…
Supernumerary Robotic Limbs (SRLs) can enhance human capability within close proximity. However, as a wearable device, the generated moment from its operation acts on the human body as an external torque. When the moments increase, more…
Accurate estimation of a user's biological joint moment from wearable sensor data is vital for improving exoskeleton control during real-world locomotor tasks. However, most state-of-the-art methods rely on deep learning techniques that…
Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design…
Vision-based human-to-robot handover is an important and challenging task in human-robot interaction. Recent work has attempted to train robot policies by interacting with dynamic virtual humans in simulated environments, where the policies…
Touch data from mobile devices are collected at scale but reveal little about the interactions that produce them. While biomechanical simulations can illuminate motor control processes, they have not yet been developed for touch…
Accurate lower-limb joint kinematic estimation is critical for applications such as patient monitoring, rehabilitation, and exoskeleton control. While previous studies have employed wearable sensor-based deep learning (DL) models for…
High-tech equipment critically relies on flexures for precise manipulation and measurement. Through elastic deformation, flexures offer extreme position repeatability within a limited range of motion in their degrees of freedom, while…
During locomotion, legged robots interact with the ground by sequentially establishing and breaking contact. The interaction wrenches that arise from contact are used to steer the robot Center of Mass (CoM) and reject perturbations that…
Garments with the ability to provide kinesthetic force-feedback on-demand can augment human capabilities in a non-obtrusive way, enabling numerous applications in VR haptics, motion assistance, and robotic control. However, designing such…
Large-scale articulated objects with high quality are desperately needed for multiple tasks related to embodied AI. Most existing methods for creating articulated objects are either data-driven or simulation based, which are limited by the…
Lightweight, controllable, and physically plausible human motion synthesis is crucial for animation, virtual reality, robotics, and human-computer interaction applications. Existing methods often compromise between computational efficiency,…
This paper presents a versatile cable-driven robotic interface to investigate the single-joint joint neuromechanics of the hip, knee and ankle. This endpoint-based interface offers highly dynamic interaction and accurate position control,…
For lower limb amputees, an active ankle joint prosthesis can provide basic mobility functions. This study focuses on an ankle joint prosthesis system based on the principle of electric-hydraulic actuation. By analyzing the characteristics…
Traditional robotic manipulator design methods require extensive, time-consuming, and manual trial and error to produce a viable design. During this process, engineers often spend their time redesigning or reshaping components as they…