Related papers: Enhanced Optimization Strategies to Design an Unde…
Convex relaxations of the optimal finger selection algorithm are proposed for a minimum mean square error (MMSE) Rake receiver in an impulse radio ultra-wideband system. First, the optimal finger selection problem is formulated as an…
A large subset of the population suffers injury or disease that causes knee pain and difficulty navigating day-to-day tasks. Off-the-shelf knee orthoses that are commonly used to treat these ailments overlook user-specific joint geometry…
Optimal motion planning along prescribed paths can be solved with several techniques, but most of them do not take into account the wrenches exerted by the end-effector when in contact with the environment. When a dynamic model of the…
Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…
This paper makes two scientific contributions to the field of exoskeleton-based action and movement recognition. First, it presents a novel machine learning and pattern recognition-based framework that can detect a wide range of actions and…
Trained humans exhibit highly agile spatial skills, enabling them to operate vehicles with complex dynamics in demanding tasks and conditions. Prior work shows that humans achieve this performance by using strategies such as satisficing,…
The high prevalence of work-related musculoskeletal disorders (WMSDs) could be addressed by optimizing Human-Robot Collaboration (HRC) frameworks for manufacturing applications. In this context, this paper proposes two hypotheses for…
Machine Learning algorithms have been extensively researched throughout the last decade, leading to unprecedented advances in a broad range of applications, such as image classification and reconstruction, object recognition, and text…
In this paper, we present an integrated human-in-the-loop simulation paradigm for the design and evaluation of a lower extremity exoskeleton that is elastically strapped onto human lower limbs. The exoskeleton has 3 rotational DOFs on each…
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…
Multi-cellular robot design aims to create robots comprised of numerous cells that can be efficiently controlled to perform diverse tasks. Previous research has demonstrated the ability to generate robots for various tasks, but these…
Learned optimizers are a crucial component of meta-learning. Recent advancements in scalable learned optimizers have demonstrated their superior performance over hand-designed optimizers in various tasks. However, certain characteristics of…
The paper presents an experimental study of resilient path planning for con-tinuum robots taking into account the multi-objective optimisation problem. To do this, we used two well-known algorithms, namely Genetic algorithm and A*…
Evolution in nature illustrates that the creatures' biological structure and their sensorimotor skills adapt to the environmental changes for survival. Likewise, the ability to morph and acquire new skills can facilitate an embodied agent…
Robots are widely used in industry due to their efficiency and high accuracy in performance. One of the most intriguing issues in manufacturing stage of production line is to minimize significantly high percentage of energy consumed by…
The deep learning revolution has greatly been accelerated by the 'hardware lottery': Recent advances in modern hardware accelerators and compilers paved the way for large-scale batch gradient optimization. Evolutionary optimization, on the…
Due to the redundancy of our motor system, movements can be performed in many ways. While multiple motor control strategies can all lead to the desired behavior, they result in different joint and muscle forces. This creates opportunities…
Exoskeletons have been shown to effectively assist humans during steady locomotion. However, their effects on non-steady locomotion, characterized by nonlinear phase progression within a gait cycle, remain insufficiently explored,…
External controls (ECs) from historical trials or real-world data have gained increasing attention as a way to augment hybrid and single-arm trials, especially when balanced randomization is infeasible. While most existing work has focused…
The problem of choosing the optimal multipath components to be employed at a minimum mean square error (MMSE) selective Rake receiver is considered for an impulse radio ultra-wideband system. First, the optimal finger selection problem is…