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Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
In precision sports such as archery, athletes' performance depends on both biomechanical stability and psychological resilience. Traditional motion analysis systems are often expensive and intrusive, limiting their use in natural training…
Current mobile user authentication systems based on PIN codes, fingerprint, and face recognition have several shortcomings. Such limitations have been addressed in the literature by exploring the feasibility of passive authentication on…
Monitoring athlete internal workload exposure, including prevention of catastrophic non-contact knee injuries, relies on the existence of a custom early-warning detection system. This system must be able to estimate accurate, reliable, and…
Interacting many-body physical systems ranging from neural networks in the brain to folding proteins to self-modifying electrical circuits can learn to perform diverse tasks. This learning, both in nature and in engineered systems, can…
Reinforcement learning algorithms have shown great success in solving different problems ranging from playing video games to robotics. However, they struggle to solve delicate robotic problems, especially those involving contact…
Wearable robotic devices have potential to assist and protect their users. Toward design of a Smart Helmet, this article examines the effectiveness of audio and visual warnings to help participants brace for impacts. A user study examines…
Materials and machines are often designed with particular goals in mind, so that they exhibit desired responses to given forces or constraints. Here we explore an alternative approach, namely physical coupled learning. In this paradigm, the…
Parkinson's disease (PD) is a common neurodegenerative disease that affects motor and non-motor symptoms. Postural instability and freezing of gait (FOG) are considered motor symptoms of PD resulting in falling. In this study, we…
Personal devices have adopted diverse authentication methods, including biometric recognition and passcodes. In contrast, headphones have limited input mechanisms, depending solely on the authentication of connected devices. We present…
Trainable activation functions, whose parameters are optimized alongside network weights, offer increased expressivity compared to fixed activation functions. Specifically, trainable activation functions defined as ratios of polynomials…
The importance of sleep is paramount for maintaining physical, emotional and mental wellbeing. Though the relationship between sleep and physical activity is known to be important, it is not yet fully understood. The explosion in popularity…
In the context of legged robots, adaptive behavior involves adaptive balancing and adaptive swing foot reflection. While adaptive balancing counteracts perturbations to the robot, adaptive swing foot reflection helps the robot to navigate…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
Intelligent wearable technology plays an increasingly important role in human-computer interaction, motion, and health monitoring. To ensure comfort and practicality of use, one common form for motion monitoring is to utilize soft wearable…
This paper presents a Q-learning framework for learning optimal locomotion gaits in robotic systems modeled as coupled rigid bodies. Inspired by prevalence of periodic gaits in bio-locomotion, an open loop periodic input is assumed to (say)…
Although the use of active learning to increase learners' engagement has recently been introduced in a variety of methods, empirical experiments are lacking. In this study, we attempted to align two experiments in order to (1) make a…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
In this paper we focus on the following problem in multi-fingered robotic grasping: assuming that an external wrench is being applied to a grasped object, will the contact forces between the hand and the object, as well as the hand joints,…
The design of feedback controllers for bipedal robots is challenging due to the hybrid nature of its dynamics and the complexity imposed by high-dimensional bipedal models. In this paper, we present a novel approach for the design of…