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Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking…
We propose MetaEMG, a meta-learning approach for fast adaptation in intent inferral on a robotic hand orthosis for stroke. One key challenge in machine learning for assistive and rehabilitative robotics with disabled-bodied subjects is the…
Soft, slender structures are ubiquitous in natural and engineered systems, with broad application potential from biomimetic materials to soft robotics. However, there is a notable lack of computational tools that simultaneously preserve…
This work develops a smart mat for monitoring body positions. We use Velostat as a force sensor resistance (FSR) to construct a sensor matrix over the mat to receive the pressure distribution of the patient's body, and then upload the…
Plasmode simulation has become an important tool for evaluating the operating characteristics of different statistical methods in complex settings, such as pharmacoepidemiological studies of treatment effectiveness using electronic health…
Loss of upper extremity motor control and function is an unremitting symptom in post-stroke patients. This would impose hardships on accomplishing their daily life activities. Supernumerary robotic limbs (SRLs) were introduced as a solution…
Simulations are a pedagogical means of enabling a risk-free way for healthcare practitioners to learn, maintain, or enhance their knowledge and skills. Such simulations should provide an optimum amount of cognitive load to the learner and…
Empirical time series often contain observational noise. We investigate the effect of this noise on the estimated parameters of models fitted to the data. For data of physiological tremor, i.e. a small amplitude oscillation of the…
Stroke patients have symptoms of cerebral functional disturbance that could aggressively impair patient's physical mobility, such as freezing of hand movements. Although rehabilitation training from external devices is beneficial for hand…
The stomach plays a central role in digestion through coordinated muscle contractions, known as gastric peristalsis, driven by slow-wave electrophysiology. Understanding this process is critical for treating motility disorders such as…
In this paper we provide an overview of a new framework for robot perception, real-world modelling, and navigation that uses a stochastic tesselated representation of spatial information called the Occupancy Grid. The Occupancy Grid is a…
Virtual human techniques have been used a lot in industrial design in order to consider human factors and ergonomics as early as possible. The physical status (the physical capacity of virtual human) has been mostly treated as invariable in…
We propose a dual-cable method of stabilizing the thumb in the context of a hand orthosis designed for individuals with upper extremity hemiparesis after stroke. This cable network adds opposition/reposition capabilities to the thumb, and…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
For social robots to maintain long-term engagement as exercise instructors, rapport-building is essential. Motor mimicry--imitating one's physical actions--during social interaction has long been recognized as a powerful tool for fostering…
Aphasia, a language disorder primarily caused by a stroke, is traditionally diagnosed using behavioral language tests. However, these tests are time-consuming, require manual interpretation by trained clinicians, suffer from low ecological…
Soft robots have immense potential given their inherent safety and adaptability, but challenges in soft actuator forces and design constraints have limited scaling up soft robots to larger sizes. Electrothermal shape memory alloy (SMA)…
This study presents a pioneering effort to replicate human neuromechanical experiments within a virtual environment utilising a digital human model. By employing MyoSuite, a state-of-the-art human motion simulation platform enhanced by…
Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…
Several upper-limb exoskeleton robots have been developed for stroke rehabilitation, but their rather low level of individualized assistance typically limits their effectiveness and practicability. Individualized assistance involves an…