Related papers: A Human Motion Compensation Framework for a Supern…
Humanoid robots have attracted significant attention in recent years. Reinforcement Learning (RL) is one of the main ways to control the whole body of humanoid robots. RL enables agents to complete tasks by learning from environment…
Physical rehabilitation exercises suggested by healthcare professionals can help recovery from various musculoskeletal disorders and prevent re-injury. However, patients' engagement tends to decrease over time without direct supervision,…
Robotic camera systems enable dynamic, repeatable motion beyond human capabilities, yet their adoption remains limited by the high cost and operational complexity of industrial-grade platforms. We present the Intelligent Robotic Imaging…
Soft pneumatic actuators (SPAs) produce motions for soft robots with simple pressure input, however they require to be appropriately designed to fit the target application. Available design methods employ kinematic models and optimization…
Parallel robots based on Handed Shearing Auxetics (HSAs) can implement complex motions using standard electric motors while maintaining the complete softness of the structure, thanks to specifically designed architected metamaterials.…
Robotic dressing assistance has the potential to improve the quality of life for individuals with limited mobility. Existing solutions predominantly rely on rigid robotic manipulators, which have challenges in handling deformable garments…
In this paper we introduce a novel approach that enables users to interact with a mobile robot in a natural manner. The proposed interaction system does not require any specific infrastructure or device, but relies on commonly utilized…
Many teleoperation tasks require three or more tools working together, which need the cooperation of multiple operators. The effectiveness of such schemes may be limited by communication. Trimanipulation by a single operator using an…
We here present work a generalized low-level technical framework aimed to provide musical biofeedback in post-stroke balance and gait rehabilitation, built by an iterative user-centered process. The framework comprises wireless wearable…
Studies of the human brain during natural activities, such as locomotion, would benefit from the ability to image deep brain structures during these activities. While Positron Emission Tomography (PET) can image these structures, the bulk…
We present a concept of constrained collaborative mobile agents (CCMA) system, which consists of multiple wheeled mobile agents constrained by a passive kinematic chain. This mobile robotic system is modular in nature, the passive kinematic…
The aim of this article is to investigate the performance of near-field integrated sensing and communication (ISAC) systems using rotatable movable antennas (RMAs). In the proposed RMA-enabled system, the positions and rotations of antennas…
While shared autonomy offers significant potential for assistive robotics, key questions remain about how to effectively map 2D control inputs to 6D robot motions. An intuitive framework should allow users to input commands effortlessly,…
The direction of arrival (DOA) estimation problem is addressed in this letter. A reconfigurable intelligent surface (RIS) aided system for the DOA estimation is proposed. Unlike traditional DOA estimation systems, a low-cost system with…
This article explores assistive devices for upper limb movement in people with disabilities through a systematic review based on the PRISMA methodology. The studied devices encompass technologies ranging from orthoses to advanced robotics,…
The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…
In this paper we consider a class of exoskeletons designed to amplify the strength of humans through feedback of sensed human-robot interactions and actuator forces. We define an amplification error signal based on a reference amplification…
Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…
The non-commutative nature of 3D rotations poses well-known challenges in generalizing planar problems to three-dimensional ones, even more so in contact-rich tasks where haptic information (i.e., forces/torques) is involved. In this sense,…
This paper describes a novel approach in human robot interaction driven by ergonomics. With a clear focus on optimising ergonomics, the approach proposed here continuously observes a human user's posture and by invoking appropriate…