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Locomotion in Virtual Reality (VR) is an important part of VR applications. Many scientists are enriching the community with different variations that enable locomotion in VR. Some of the most promising methods are gesture-based and do not…
Through this project, we researched on transfer learning methods and their applications on real world problems. By implementing and modifying various methods in transfer learning for our problem, we obtained an insight in the advantages and…
Wearable devices are transforming computing and the human-computer interaction and they are a primary means for motion recognition of reflexive systems. We review basic wearable deployments and their open wireless communications. An…
A significant challenge for the control of a robotic lower extremity rehabilitation exoskeleton is to ensure stability and robustness during programmed tasks or motions, which is crucial for the safety of the mobility-impaired user. Due to…
The study of biomechanics during locomotion provides valuable insights into the effects of varying conditions on specific movement patterns. This research focuses on examining the influence of different shoe parameters on walking…
Portable active back support devices (BSDs) offer tunable assistance but are often bulky and heavy, limiting their usability. In contrast, passive BSDs are lightweight and compact but lack the ability to adapt their assistance to different…
Maintaining an active lifestyle is vital for quality of life, yet challenging for wheelchair users. For instance, powered wheelchairs face increasing risks of obesity and deconditioning due to inactivity. Conversely, manual wheelchair…
The adaptive learning capabilities seen in biological neural networks are largely a product of the self-modifying behavior emerging from online plastic changes in synaptic connectivity. Current methods in Reinforcement Learning (RL) only…
Human activity recognition has become an attractive research area with the development of on-body wearable sensing technology. With comfortable electronic-textiles, sensors can be embedded into clothing so that it is possible to record…
In order to detect and correct physical exercises, a Grow-When-Required Network (GWR) with recurrent connections, episodic memory and a novel subnode mechanism is developed in order to learn spatiotemporal relationships of body movements…
Musculoskeletal injuries during military training significantly impact readiness, making prevention through activity monitoring crucial. While Human Activity Recognition (HAR) using wearable devices offers promising solutions, it faces…
Human activity recognition has grown in popularity with its increase of applications within daily lifestyles and medical environments. The goal of having efficient and reliable human activity recognition brings benefits such as accessible…
Traditional approaches to measurement in upper-limb therapy have gaps that electronic sensing and recording can help fill. We highlight shortcomings in current kinematic recording devices, and we introduce a wrist sensing device that…
A necessary capability for humanoid robots is the ability to stand and walk while rejecting natural disturbances. Recent progress has been made using sim-to-real reinforcement learning (RL) to train such locomotion controllers, with…
Recent years have witnessed the rapid development of human activity recognition (HAR) based on wearable sensor data. One can find many practical applications in this area, especially in the field of health care. Many machine learning…
Object insertion tasks are prone to failure under pose uncertainty and environmental variation, often requiring manual fine-tuning or controller retraining. We present a novel approach for robust and resilient object insertion using a…
Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a…
Human motor control remains agile and robust despite limited sensory information for feedback, a property attributed to the body's ability to perform morphological computation through muscle coordination with variable impedance. However, it…
Many physical tasks such as pulling out a drawer or wiping a table can be modeled with geometric constraints. These geometric constraints are characterized by restrictions on kinematic trajectories and reaction wrenches (forces and moments)…
Wearable assistive robots (WR) for the lower extremity are extensively documented in literature. Various interfaces have been designed to control these devices during gait and balance activities. However, achieving seamless and intuitive…