Related papers: A Human Motion Compensation Framework for a Supern…
Multi-degree of freedom robots are playing very important role in different applications of automation. They are providing much more accuracy in carrying out a typical procedure as compared to the manual work done by human. In recent years…
Robotic arms are key components in fruit-harvesting robots. In agricultural settings, conventional serial or parallel robotic arms often fall short in meeting the demands for a large workspace, rapid movement, enhanced capability of…
Robots can serve as safety catalysts on construction job sites by taking over hazardous and repetitive tasks while alleviating the risks associated with existing manual workflows. Research on the safety of physical human-robot interaction…
Gesture-based interfaces are often used to achieve a more natural and intuitive teleoperation of robots. Yet, sometimes, gesture control requires postures or movements that cause significant fatigue to the user. In a previous user study, we…
In this work, we introduce an adaptive control framework for human-robot collaborative transportation of objects with unknown deformation behaviour. The proposed framework takes as input the haptic information transmitted through the…
Timely and adequate rehabilitation is critical in facilitating post-stroke recovery. However, the organization and delivery of rehabilitation are resource-demanding, and are only available to approximately 25% of stroke survivors in…
Robotics has shown significant potential in assisting people with disabilities to enhance their independence and involvement in daily activities. Indeed, a societal long-term impact is expected in home-care assistance with the deployment of…
Traditional robotic hand metrics focus on static properties such as workspace, manipulability, and grasp stability. However, these metrics do not directly measure dexterity under the standard definition in robotic manipulation: the ability…
Safety, reliability, and user trust are crucial in human-robot interaction (HRI) where the robots must address hazards in real-time. This study presents hazard driven low-level control strategies implemented in robot-assisted dressing (RAD)…
We propose a parallel massage robot with compliant joints based on the series elastic actuator (SEA), offering a unified force-position control approach. First, the kinematic and static force models are established for obtaining the…
The high cost of robotic platforms limits students' ability to gain practical skills directly applicable in real-world scenarios. To address this challenge, this paper presents TARA, a low-cost, 3D-printed robotic arm designed for…
Accurate camera motion estimation is essential for recovering global human motion in world coordinates from RGB video inputs. SLAM is widely used for estimating camera trajectory and point cloud, but monocular SLAM does so only up to an…
Robotic devices hold great potential for efficient and reliable assessment of neuromotor abnormalities in post-stroke patients. However, spasticity caused by stroke is still assessed manually in clinical settings. The limited and variable…
Recent advances in telecommunications have enabled surgeons to operate remotely on patients with the use of robotics. The investigation and testing of remote surgery using a robotic arm is presented. The robotic arm is designed to have four…
Wearable devices like exoskeletons are designed to reduce excessive loads on specific joints of the body. Specifically, single- or two-degrees-of-freedom (DOF) upper-body industrial exoskeletons typically focus on compensating for the…
Remote sighted assistance (RSA) has emerged as a conversational assistive technology, where remote sighted workers, i.e., agents, provide real-time assistance to users with vision impairments via video-chat-like communication. Researchers…
As an important branch of embodied artificial intelligence, mobile manipulators are increasingly applied in intelligent services, but their redundant degrees of freedom also limit efficient motion planning in cluttered environments. To…
Whole-body geometric calibration of humanoid robots using classical robot calibration methods is a timeconsuming and experimentally burdensome task. However, despite its significance for accurate control and simulation, it is often…
This article explores human-like movement from a fresh perspective on motion planning. We analyze the coordinated and compliant movement mechanisms of the human body from the perspective of biomechanics. Based on these mechanisms, we…
Human motion provides rich priors for training general-purpose humanoid control policies, but raw demonstrations are often incompatible with a robot's kinematics and dynamics, limiting their direct use. We present a two-stage pipeline for…