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The issues of research required in the field of bio medical engineering and externally-powered prostheses are attracting attention of regulatory bodies and the common people in various parts of the globe. Today, 90 percent of prostheses…
The manipulation of large objects and safe operation in the vicinity of humans are key capabilities of a general purpose domestic robotic assistant. We present the design of a soft, tactile-sensing humanoid upper-body robot and demonstrate…
In a few months the computer mouse will be half-a-century-old. It is known to have many drawbacks, the main ones being: loss of productivity due to constant switching between keyboard and mouse, and health issues such as RSI. Like the…
From colored pixels to hyper-realistic 3D landscapes of virtual reality, video games have evolved immensely over the last few decades. However, video game input still requires two-handed dexterous finger manipulations for simultaneous…
As Extended Reality (XR) systems increasingly map and understand the physical world, interacting with these blended representations remains challenging. The current push for "natural" inputs has its trade-offs: touch is limited by human…
Various musculoskeletal humanoids have been developed so far. While these humanoids have the advantage of their flexible and redundant bodies that mimic the human body, they are still far from being applied to real-world tasks. One of the…
Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstation-like counterparts. However, the field is generally lacking effective methods by which the user can operate the device: such…
Many researchers have identified robotics as a potential solution to the aging population faced by many developed and developing countries. If so, how should we address the cognitive acceptance and ambient control of elderly assistive…
In lunar and planetary exploration, legged robots have attracted significant attention as an alternative to conventional wheeled robots, which struggle to traverse rough and uneven terrain. To enable locomotion over highly irregular and…
We introduce UMI-on-Legs, a new framework that combines real-world and simulation data for quadruped manipulation systems. We scale task-centric data collection in the real world using a hand-held gripper (UMI), providing a cheap way to…
In this paper, we propose a single-actuator gripper that can lift thin objects lying on a flat surface, in addition to the ability as a standard parallel gripper. The key is a crawler on the fingertip, which is underactuated together with…
The upper limb robotic exoskeleton is an electromechanical device which use to recover a patients motor dysfunction in the rehabilitation field. It can provide repetitive, comprehensive, focused, positive, and precise training to regain the…
Animals use limbs for both locomotion and manipulation. We aim to equip quadruped robots with similar versatility. This work introduces a system that enables quadruped robots to interact with objects using their legs, inspired by…
With the evolution of mobile devices, and smart-phones in particular, comes the ability to create new experiences that enhance the way we see, interact, and manipulate objects, within the world that surrounds us. It is now possible to blend…
We present a new mouse cursor designed to facilitate the use of the mouse by people with peripheral vision loss. The pointer consists of a collection of converging straight lines covering the whole screen and following the position of the…
This paper introduces a novel six-axis force/torque sensor tailored for compact and lightweight legged robots. Unlike traditional strain gauge-based sensors, the proposed non-contact design employs photocouplers, enhancing resistance to…
Neurological disorders, including stroke, spinal cord injuries, multiple sclerosis, and Parkinson's disease, generally lead to diminished upper extremity (UE) function, impacting individuals' independence and quality of life. Traditional…
In recent years, many countries, including Japan, have rapidly aging populations, making the preservation of seniors' quality of life a significant concern. For elderly people with impaired physical abilities, support for toileting is one…
A central challenge in building robotic prostheses is the creation of a sensor-based system able to read physiological signals from the lower limb and instruct a robotic hand to perform various tasks. Existing systems typically perform…
Objective: Deep learning-based neural decoders have emerged as the prominent approach to enable dexterous and intuitive control of neuroprosthetic hands. Yet few studies have materialized the use of deep learning in clinical settings due to…