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Upper extremity motor impairment affects about 80\% of persons after strokes. For stroke rehabilitation, upper limb kinematic assessments have increasingly been used as primary or secondary outcome measures. Studying the upper extremity…
Hand tracking is an important aspect of human-computer interaction and has a wide range of applications in extended reality devices. However, current hand motion capture methods suffer from various limitations. For instance, visual-based…
Tendon-driven robotic hands offer unparalleled dexterity for manipulation tasks, but learning control policies for such systems presents unique challenges. Unlike joint-actuated robotic hands, tendon-driven systems lack a direct one-to-one…
Non-invasive brain-computer interfaces (BCIs) have the potential to enable intuitive control of prosthetic limbs for individuals with upper limb amputations. However, existing EEG-based control systems face challenges related to signal…
Hands are the primary means through which humans interact with the world. Reliable and always-available hand pose inference could yield new and intuitive control schemes for human-computer interactions, particularly in virtual and augmented…
Current control strategies for powered lower limb prostheses often lack awareness of the environment and the user's intended interactions with it. This limitation becomes particularly apparent in complex terrains. Obstacle negotiation, a…
Intent inferral on a hand orthosis for stroke patients is challenging due to the difficulty of data collection. Additionally, EMG signals exhibit significant variations across different conditions, sessions, and subjects, making it hard for…
Human motion analysis is used in many different fields and applications. Currently, existing systems either focus on one single limb or one single class of movements. Many proposed systems are designed to be used in an indoor controlled…
State-of-the-art upper limb myoelectric prostheses often use pattern recognition (PR) control systems that translate electromyography (EMG) signals into desired movements. As prosthesis movement complexity increases, users often struggle to…
Mobile manipulators in the home can enable people with cervical spinal cord injury (cSCI) to perform daily physical household tasks that they could not otherwise do themselves. However, paralysis in these users often limits access to…
Surface electromyography (sEMG) and high-density sEMG (HD-sEMG) biosignals have been extensively investigated for myoelectric control of prosthetic devices, neurorobotics, and more recently human-computer interfaces because of their…
Designing efficient and labor-saving prosthetic hands requires powerful hand gesture recognition algorithms that can achieve high accuracy with limited complexity and latency. In this context, the paper proposes a compact deep learning…
Accurate hand gesture prediction is crucial for effective upper-limb prosthetic limbs control. As the high flexibility and multiple degrees of freedom exhibited by human hands, there has been a growing interest in integrating deep networks…
The dexterity of conventional myoelectric prostheses is limited in part by the small datasets used to train the control algorithms. Variations in surface electrode positioning make it difficult to collect consistent data and to estimate…
Regulating contact forces with high precision is crucial for grasping and manipulating fragile or deformable objects. We aim to utilize the dexterity of human hands to regulate the contact forces for robotic hands and exploit human…
The main purpose of this research is to move the robotic arm (5DoF) in real-time, based on the surface Electromyography (sEMG) signals, as obtained from the wireless Myo gesture armband to distinguish seven hand movements. The sEMG signals…
Synergies have been adopted in prosthetic limb applications to reduce complexity of design, but typically involve a single synergy setting for a population and ignore individual preference or adaptation capacity. However, personalization of…
In this paper, we present electromyography analysis of human activity - database 1 (EMAHA-DB1), a novel dataset of multi-channel surface electromyography (sEMG) signals to evaluate the activities of daily living (ADL). The dataset is…
Currently, individuals with arm mobility impairments (referred to as "patients") face limited technological solutions due to two key challenges: (1) non-invasive prosthetic devices are often prohibitively expensive and costly to maintain,…
One of the main causes of long-term prosthetic abandonment is the lack of ownership over the prosthesis, caused mainly by the absence of sensory information regarding the lost limb. One strategy to overcome this problem is to provide…