Related papers: Intelligent upper-limb exoskeleton integrated with…
The fast-growing techniques of measuring and fusing multi-modal biomedical signals enable advanced motor intent decoding schemes of lowerlimb exoskeletons, meeting the increasing demand for rehabilitative or assistive applications of…
Lower limb exoskeletons and prostheses require precise, real time gait phase and step detections to ensure synchronized motion and user safety. Conventional methods often rely on complex force sensing hardware that introduces control…
Dexterous intelligence -- the ability to perform complex interactions with multi-fingered hands -- is a pinnacle of human physical intelligence and emergent higher-order cognitive skills. However, contrary to Moravec's paradox, dexterous…
Detecting impact where an individual makes contact with the ground within a fall event is crucial in fall detection systems, particularly for elderly care where prompt intervention can prevent serious injuries. The UP-Fall dataset, a key…
I present the design, implementation and control of a novel, linkage-based, underactuated hand exoskeleton aimed to assist patients with hand disabilities during grasping tasks for robot assisted physical rehabilitation or robot assisted…
Passive elastic elements can contribute to stability, energetic efficiency, and impact absorption in both biological and robotic systems. They also add dynamical complexity which makes them more challenging to model and control. The impact…
We propose a machine learning-based estimator of the hand state for rehabilitation purposes, using light exoskeletons. These devices are easy to use and useful for delivering domestic and frequent therapies. We build a supervised approach…
Robotic exoskeletons are exciting technologies for augmenting human mobility. However, designing such a device for seamless integration with the human user and to assist human movement still is a major challenge. This paper aims at…
A promising effective human-robot interaction in assistive robotic systems is gaze-based control. However, current gaze-based assistive systems mainly help users with basic grasping actions, offering limited support. Moreover, the…
Recent advancements in teleoperation systems have enabled high-quality data collection for robotic manipulators, showing impressive results in learning manipulation at scale. This progress suggests that extending these capabilities to…
Eye movements have long been studied as a window into the attentional mechanisms of the human brain and made accessible as novelty style human-machine interfaces. However, not everything that we gaze upon, is something we want to interact…
Background and Objectives: This paper focuses on using AI to assess the cognitive function of older adults with mild cognitive impairment or mild dementia using physiological data provided by a wearable device. Cognitive screening tools are…
Robot-assisted surgery has revolutionized the healthcare industry by providing surgeons with greater precision, reducing invasiveness, and improving patient outcomes. However, the success of these surgeries depends heavily on the robotic…
Coordinated human movement depends on the integration of multisensory inputs, sensorimotor transformation, and motor execution, as well as sensory feedback resulting from body-environment interaction. Building dynamic models of the…
Powered lower-limb exoskeletons provide assistive torques to coordinate limb motion during walking in individuals with movement disorders. Advances in sensing and actuation have improved the wearability and portability of state-of-the-art…
Human-like motion is a primary goal for many robotic assistive devices. Emulating the strategy of the human neuromuscular system may aid the control of such powered devices, yet many challenges remain. In this study, we investigated the…
Noninvasive human-machine interfaces such as surface electromyography (sEMG) have long been employed for controlling robotic prostheses. However, classical controllers are limited to few degrees of freedom (DoF). More recently, machine…
Human joint dynamic stiffness plays an important role in the stability of performance augmentation exoskeletons. In this paper, we consider a new frequency domain model of the human joint dynamics which features a complex value stiffness.…
Collaborative robots require effective human intention estimation to safely and smoothly work with humans in less structured tasks such as industrial assembly, where human intention continuously changes. We propose the concept of intention…
Imitation learning provides a promising approach to dexterous hand manipulation, but its effectiveness is limited by the lack of large-scale, high-fidelity data. Existing data-collection pipelines suffer from inaccurate motion retargeting,…