Related papers: Learning Hand State Estimation for a Light Exoskel…
We develop a system for modeling hand-object interactions in 3D from RGB images that show a hand which is holding a novel object from a known category. We design a Convolutional Neural Network (CNN) for Hand-held Object Pose and Shape…
Existing RGB-based 2D hand pose estimation methods learn the joint locations from a single resolution, which is not suitable for different hand sizes. To tackle this problem, we propose a new deep learning-based framework that consists of…
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,…
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…
This work devises an optimized machine learning approach for human arm pose estimation from a single smartwatch. Our approach results in a distribution of possible wrist and elbow positions, which allows for a measure of uncertainty and the…
Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…
Controlling hand exoskeletons for assisting impaired patients in grasping tasks is challenging because it is difficult to infer user intent. We hypothesize that majority of daily grasping tasks fall into a small set of categories or modes…
Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control…
Over the last decade, there has been significant progress in the field of interactive virtual rehabilitation. Physical therapy (PT) stands as a highly effective approach for enhancing physical impairments. However, patient motivation and…
Background: Lower limb exoskeletons can enhance quality of life, but widespread adoption is limited by the lack of frameworks to assess their biomechanical and human-robot interaction effects, which are essential for developing adaptive and…
The main purpose of the paper is development, implementation, and testing of a low-cost portable system to assist partially paralyzed patients in their hand rehabilitation after strokes or some injures. Rehabilitation includes time…
Balance loss is a significant challenge in lower-limb exoskeleton applications, as it can lead to potential falls, thereby impacting user safety and confidence. We introduce a control framework for omnidirectional recovery step planning by…
Accurate lower-limb joint kinematic estimation is critical for applications such as patient monitoring, rehabilitation, and exoskeleton control. While previous studies have employed wearable sensor-based deep learning (DL) models for…
Construction tasks are inherently unpredictable, with dynamic environments and safety-critical demands posing significant risks to workers. Exoskeletons offer potential assistance but falter without accurate intent recognition across…
Exoskeletons can boost human strength and provide assistance to individuals with physical disabilities. However, ensuring safety and optimal performance in their design poses substantial challenges. This study presents the design process…
In this paper, we propose a method for estimating in-hand object poses using proprioception and tactile feedback from a bimanual robotic system. Our method addresses the problem of reducing pose uncertainty through a sequence of frictional…
Gait phase estimation based on inertial measurement unit (IMU) signals facilitates precise adaptation of exoskeletons to individual gait variations. However, challenges remain in achieving high accuracy and robustness, particularly during…
Our work aims to reconstruct hand-held objects given a single RGB image. In contrast to prior works that typically assume known 3D templates and reduce the problem to 3D pose estimation, our work reconstructs generic hand-held object…
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…
Ergonomic assessment of human posture plays a vital role in understanding work-related safety and health. Current posture estimation approaches face occlusion challenges in teleoperation and physical human-robot interaction. We investigate…