Related papers: Adaptive Control in Assistive Application -- A Stu…
This paper presents a novel method for assistive load carrying using quadruped robots. The controller uses proprioceptive sensor data to estimate external base wrench, that is used for precise control of the robot's acceleration during…
Assistive exoskeletons have shown great potential in enhancing mobility for individuals with motor impairments, yet their effectiveness relies on precise parameter tuning for personalized assistance. In this study, we investigate the…
When a robotic system is redundant with respect to a given task, the remaining degrees of freedom can be used to satisfy additional objectives. With current robotic systems having more and more degrees of freedom, this can lead to an entire…
Humanoid robotics has strong potential to transform daily service and caregiving applications. Although recent advances in general motion tracking within physics engines (GMT) have enabled virtual characters and humanoid robots to reproduce…
While rigid robots are extensively used in various applications, they are limited in the tasks they can perform and can be unsafe in close human-robot interactions. Soft robots on the other hand surpass the capabilities of rigid robots in…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Mobile manipulators in the home can provide increased autonomy to individuals with severe motor impairments, who often cannot complete activities of daily living (ADLs) without the help of a caregiver. Teleoperation of an assistive mobile…
The use of wearable robots has been widely adopted in rehabilitation training for patients with hand motor impairments. However, the uniqueness of patients' muscle loss is often overlooked. Leveraging reinforcement learning and a…
Human-robot shared control, which integrates the advantages of both humans and robots, is an effective approach to facilitate efficient surgical operation. Learning from demonstration (LfD) techniques can be used to automate some of the…
Human-AI collaboration is typically offered in one of two of user control levels: guidance, where the AI provides suggestions and the human makes the final decision, and delegation, where the AI acts autonomously within user-defined…
This study investigates the integration of assistive therapeutic robotics, wearable sensors, and spatial sensors within an intelligent environment tailored for dementia care. The feasibility study aims to assess the collective impact of…
Soft robotics hold promise in the development of safe yet powered assistive wearable devices for infants. Key to this is the development of closed-loop controllers that can help regulate pneumatic pressure in the device's actuators in an…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
Variable Stiffness Actuators prove invaluable for robotics applications in unstructured environments, fostering safe interactions and enhancing task adaptability. Nevertheless, their mechanical design inevitably results in larger and…
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…
Force control is essential for medical robots when touching and contacting the patient's body. To increase the stability and efficiency in force control, an Adaption Module could be used to adjust the parameters for different contact…
Human assistive robotics have the potential to help the elderly and individuals living with disabilities with their Activities of Daily Living (ADL). Robotics researchers present bottom up solutions using various control methods for…
The diagnosis of Autism Spectrum Disorder (ASD) in children is commonly accompanied by a diagnosis of sensory processing disorders as well. Abnormalities are usually reported in multiple sensory processing domains, showing a higher…
Motor skill learning often requires experienced professionals who can provide personalized instruction. Unfortunately, the availability of high-quality training can be limited for specialized tasks, such as high performance racing. Several…
People with visual impairments perceive their environment non-visually and often use AI-powered assistive tools to obtain textual descriptions of visual information. Recent large vision-language model-based AI-powered tools like Be My AI…