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We present an ongoing project that aims to develop a social robot to help children cope with painful and distressing medical procedures in a clinical setting. Our approach uses automated planning as a core component for action selection in…
This letter presents a physical human-robot interaction scenario in which a robot guides and performs the role of a teacher within a defined dance training framework. A combined cognitive and physical feedback of performance is proposed for…
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…
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 investigate the roles that social robots can take in physical exercise with human partners. In related work, robots or virtual intelligent agents take the role of a coach or instructor whereas in other approaches they are…
Soft robotic snakes (SRSs) have a unique combination of continuous and compliant properties that allow them to imitate the complex movements of biological snakes. Despite the previous attempts to develop SRSs, many have been limited to…
Using lower-limbs exoskeletons provides potential advantages in terms of productivity and safety associated with reduced stress. However, complex issues in human-robot interaction are still open, such as the physiological effects of…
Supernumerary Robotics Device (SRD) is an ideal solution to provide robotic assistance in overhead manual manipulation. Since two arms are occupied for the overhead task, it is desired to have additional arms to assist us in achieving other…
Robotics presents a promising opportunity for enhancing bathing assistance, potentially to alleviate labor shortages and reduce care costs, while offering consistent and gentle care for individuals with physical disabilities. However,…
In this paper, we explore how techniques from soft robotics can help create a new form of robot expression. We present Sprout, a soft expressive robot that conveys its internal states by changing its body shape. Sprout can extend, bend,…
Objective: Evaluate the feasibility and potential impacts on hand function using a wearable stimulation device (the VTS Glove) which provides mechanical, vibratory input to the affected limb of chronic stroke survivors. Methods: A…
Reinforcement Learning (RL) algorithms have achieved remarkable performance in decision making and control tasks due to their ability to reason about long-term, cumulative reward using trial and error. However, during RL training, applying…
Pneumatic soft everting robotic structures have the potential to facilitate human transfer tasks due to their ability to grow underneath humans without sliding friction and their utility as a flexible sling when deflated. Tubular structures…
This paper presents a novel soft tactile skin (STS) technology operating with sound waves. In this innovative approach, the sound waves generated by a speaker travel in channels embedded in a soft membrane and get modulated due to a…
Parkinson's Disease (PD) is a neurodegenerative disorder that significantly impacts motor and non-motor functions. There is currently no treatment that slows or stops neurodegeneration in PD. In this context, assistive technologies (ATs)…
Mobile manipulator platforms, like the Stretch RE1 robot, make the promise of in-home robotic assistance feasible. For people with severe physical limitations, like those with quadriplegia, the ability to tele-operate these robots…
Assistive and Wearable Robotics have the potential to support humans with different types of motor impairments to become independent and fulfil their activities of daily living successfully. The success of these robot systems, however,…
Children with Autism Spectrum Disorder (ASD) experience deficits in verbal and nonverbal communication skills including motor control, turn-taking, and emotion recognition. Innovative technology, such as socially assistive robots, has shown…
Stroke-induced motor impairment often results in substantial loss of upper-limb function, creating a strong demand for rehabilitation robots that enable safe and transparent physical human-robot interaction (pHRI). Variable stiffness…
This work represents an initial benchmark of a large-scale soft robot performing physical, collaborative manipulation of a long, extended object with a human partner. The robot consists of a pneumatically-actuated, three-link continuum soft…