Related papers: A Machine Learning Approach for Predicting Upper L…
In this work we explore the use of reinforcement learning (RL) to help with human decision making, combining state-of-the-art RL algorithms with an application to prosthetics. Managing human-machine interaction is a problem of considerable…
This paper addresses two challenges facing sampling-based kinodynamic motion planning: a way to identify good candidate states for local transitions and the subsequent computationally intractable steering between these candidate states.…
Mobility impairment caused by limb loss is a significant challenge faced by millions of individuals worldwide. The development of advanced assistive technologies, such as prosthetic devices, has the potential to greatly improve the quality…
Mounting evidence suggests that adaptation is a crucial mechanism for rehabilitation robots in promoting motor learning. Yet, it is commonly based on robot-derived movement kinematics, which is a rather subjective measurement of…
Radiation therapy of thoracic and abdominal tumors requires incorporating the respiratory motion into treatments. To precisely account for the patient respiratory motions and predict the respiratory signals, a generalized model for…
Lower limb amputations and neuromuscular impairments severely restrict mobility, necessitating advancements beyond conventional prosthetics. While motorized bionic limbs show promise, their effectiveness depends on replicating the dynamic…
Wearable robotics for lower-limb assistance have become a pivotal area of research, aiming to enhance mobility for individuals with physical impairments or augment the performance of able-bodied users. Accurate and adaptive control systems…
Postoperative upper limb dysfunction is prevalent among breast cancer survivors, yet their adherence to at-home rehabilitation exercises is low amidst limited nursing resources. The hardware overhead of commonly adopted VR-based mHealth…
We propose MetaEMG, a meta-learning approach for fast adaptation in intent inferral on a robotic hand orthosis for stroke. One key challenge in machine learning for assistive and rehabilitative robotics with disabled-bodied subjects is the…
This project describes the application of the technologies of Machine Learning and Internet-of-Things to assess the lower limb strength of individuals undergoing rehabilitation or therapy. Specifically, it seeks to measure and assess the…
Exoskeletons for rehabilitation can help enhance motor recovery in individuals suffering from neurological disorders. Precision in movement execution, especially in arm rehabilitation, is crucial to prevent maladaptive plasticity. However,…
Hospital readmission rate is high for heart failure patients. Early detection of deterioration will help doctors prevent readmissions, thus reducing health care cost and providing patients with just-in-time intervention. Wearable devices…
Today's virtual reality (VR) systems and environments assume that users have typical abilities, which can make VR inaccessible to people with physical impairments. However, there is not yet an understanding of how inaccessible locomotion…
Physical rehabilitation plays a crucial role in restoring functional abilities, but traditional approaches often face challenges in terms of cost, accessibility, and personalized monitoring. Asynchronous physical rehabilitation has gained…
Many neurological conditions, e.g., a stroke, can cause patients to experience upper limb (UL) motor impairments that hinder their daily activities. For such patients, while rehabilitation therapy is key for regaining autonomy and restoring…
Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues.…
Many people suffer from the loss of a limb. Learning to get by without an arm or hand can be very challenging, and existing prostheses do not yet fulfil the needs of individuals with amputations. One promising solution is to provide greater…
Assistive devices, such as exoskeletons and prostheses, have revolutionized the field of rehabilitation and mobility assistance. Efficiently detecting transitions between different activities, such as walking, stair ascending and…
Mobile manipulators require coordinated control between navigation and manipulation to accomplish tasks. Typically, coordinated mobile manipulation behaviors have base navigation to approach the goal followed by arm manipulation to reach…
Many tasks performed by two humans require mutual interaction between arms such as handing-over tools and objects. In order for a robotic arm to interact with a human in the same way, it must reason about the location of the human arm in…