Related papers: Robotically adjustable kinematics in a wrist-drive…
The anthropomorphism of grasping process significantly benefits the experience and grasping efficiency of prosthetic hand wearers. Currently, prosthetic hands controlled by signals such as brain-computer interfaces (BCI) and…
Common disabilities like stroke and spinal cord injuries may cause loss of motor function in hands. They can be treated with robot assisted rehabilitation techniques, like continuously opening and closing the hand with help of a robot, in a…
Assistive robots for healthcare have seen a growing demand due to the great potential of relieving medical practitioners from routine jobs. In this paper, we investigate the development of an optimization-based control framework for an…
This paper explores the development of a control and sensor strategy for an industrial wearable wrist exoskeleton by classifying and predicting workers' actions. The study evaluates the correlation between exerted force and effort…
Rehabilitation exercises performed by children with cerebral palsy are tedious and repetitive. To make them more engaging, we propose to use an exergame approach, where an adaptive application can help the child remain stimulated and…
Assistive technologies and in particular assistive robotic arms have the potential to enable people with motor impairments to live a self-determined life. More and more of these systems have become available for end users in recent years,…
One of the most elusive goals in myographic prosthesis control is the ability to reliably decode continuous positions simultaneously across multiple degrees-of-freedom. Goal: To demonstrate dexterous, natural, biomimetic finger and wrist…
Learning to operate a vehicle is generally accomplished by forming a new cognitive map between the body motions and extrapersonal space. Here, we consider the challenge of remapping movement-to-space representations in survivors of spinal…
Artificial muscle-driven modular soft robots exhibit significant potential for executing complex tasks. However, their broader applicability remains constrained by the lack of dynamic model-based control strategies tailored for…
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…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…
Background: People with severe speech and motor impairment (SSMI) often uses a technique called eye pointing to communicate with outside world. One of their parents, caretakers or teachers hold a printed board in front of them and by…
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…
Recent research proposed gaze-assisted gestures to enhance interaction within virtual reality (VR), providing opportunities for people with motor impairments to experience VR. Compared to people with other motor impairments, those with…
The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…
Increased effort during use of the paretic arm and hand can provoke involuntary abnormal synergy patterns and amplify stiffness effects of muscle tone for individuals after stroke, which can add difficulty for user-controlled devices to…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
For successful object manipulation with robotic hands, it is important to ensure that the object remains in the grasp at all times. In addition to grasp constraints associated with slipping and singular hand configurations, excessive…
This study proposed a novel robotic gripper that can achieve grasping and infinite wrist twisting motions using a single actuator. The gripper is equipped with a differential gear mechanism that allows switching between the grasping and…
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…