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Reconfigurable multi-robot cells offer a promising approach to meet fluctuating assembly demands. However, the recurrent planning of their configurations introduces new challenges, particularly in generating optimized, coordinated…

This paper presents a motion analysis framework for an athlete wearing sport-specific flexible prosthesis based on the soft-rigid hybrid-link system. Such a motion analysis is a challenging problem because we need to consider the…

We consider a simple one-dimensional time-dependent model for bone regeneration in the presence of a bio-resorbable polymer scaffold. Within the framework of the model, we optimize the effective mechanical stiffness of the polymer scaffold…

Kinematic structure of an exoskeleton is the most fundamental block of its design and is determinant of many functional capabilities of it. Although numerous upper limb rehabilitation devices have been designed in the recent years, there is…

Given a visual history, multiple future outcomes for a video scene are equally probable, in other words, the distribution of future outcomes has multiple modes. Multimodality is notoriously hard to handle by standard regressors or…

Artificial neural networks have gone through a recent rise in popularity, achieving state-of-the-art results in various fields, including image classification, speech recognition, and automated control. Both the performance and…

Fine scale elastic structures are widespread in nature, for instances in plants or bones, whenever stiffness and low weight are required. These patterns frequently refine towards a Dirichlet boundary to ensure an effective load transfer.…

A large body of animation research focuses on optimization of movement control, either as action sequences or policy parameters. However, as closed-form expressions of the objective functions are often not available, our understanding of…

This paper presents the design concept, modeling and motion planning solution for the aerial robotic chain. This design represents a configurable robotic system of systems, consisting of multi-linked micro aerial vehicles that…

Lower limb exoskeletons show promise to assist human movement, but their utility is limited by controllers designed for discrete, predefined actions in controlled environments, restricting their real-world applicability. We present an…

This paper investigates the problem of optimal predictor design for distributed parameter systems using neural networks and shape optimization. Sensors with various shapes are placed on the domain of the distributed parameter system. Data…

Design of robotic systems that safely and efficiently operate in uncertain operational conditions, such as rehabilitation and physical assistance robots, remains an important challenge in the field. Current methods for the design of energy…

Muscles crossing a joint usually outnumber its degrees of freedom, which renders the motor system underdetermined. Typically, optimization laws are postulated to cope with this redundancy. A natural question then arises whether all muscular…

Stroke rehabilitation seeks to increase neuroplasticity through the repeated practice of functional motions, but may have minimal impact on recovery because of insufficient repetitions. The optimal training content and quantity are…

One of the critical challenges in automated driving is ensuring safety of automated vehicles despite the unknown behavior of the other vehicles. Although motion prediction modules are able to generate a probability distribution associated…

Multiple Sclerosis (MS) is a severe neurological disease characterized by inflammatory lesions in the central nervous system. Hence, predicting inflammatory disease activity is crucial for disease assessment and treatment. However, MS…

The rapidly increasing computational demands for artificial intelligence (AI) have spurred the exploration of computing principles beyond conventional digital computers. Physical neural networks (PNNs) offer efficient neuromorphic…

We present a constrained motion control framework for a redundant surgical system designed for minimally invasive treatment of pelvic osteolysis. The framework comprises a kinematics model of a six Degrees-of-Freedom (DoF) robotic arm…

Flexible sensors are increasingly employed in soft robotics and wearable devices to provide proprioception of freeform deformations.Although supervised learning can train shape predictors from sensor signals, prediction accuracy strongly…

Effective motion planning in high dimensional spaces is a long-standing open problem in robotics. One class of traditional motion planning algorithms corresponds to potential-based motion planning. An advantage of potential based motion…