Related papers: A Practical Sensing Interface for Exoskeleton Eval…
I present the design, implementation and control of a novel, linkage-based, underactuated hand exoskeleton aimed to assist patients with hand disabilities during grasping tasks for robot assisted physical rehabilitation or robot assisted…
The application of psychophysiology in human-computer interaction is a growing field with significant potential for future smart personalised systems. Working in this emerging field requires comprehension of an array of physiological…
Measuring brain activity with electroencephalography (EEG) is mature enough to assess mental states. Combined with existing methods, such tool can be used to strengthen the understanding of user experience. We contribute a set of methods to…
Breathing rate (BR), minute ventilation (VE), and other respiratory parameters are essential for real-time patient monitoring in many acute health conditions, such as asthma. The clinical standard for measuring respiration, namely…
The integration of compressive sensing with real-time embedded systems opens new possibilities for efficient, low-power biomedical signal acquisition. This paper presents a custom hardware platform based on the RP2350 micro-controller,…
Despite the general assumption that completely locked-in state (CLIS) patients remain conscious and aware of their environment, the effectiveness of brain-computer interfaces (BCIs) in facilitating communication has been limited, as…
We present NeckSense, a novel wearable system for head pose tracking that leverages multi-channel bio-impedance sensing with soft, dry electrodes embedded in a lightweight, necklace-style form factor. NeckSense captures dynamic changes in…
A sensor-fused wearable assistance prototype for upper-limb function (triceps brachii and extensor pollicis brevis) is presented. The device integrates surface electromyography (sEMG), an inertial measurement unit (IMU), and flex/force…
The passive body-area electrostatic field has recently been aspiringly explored for wearable motion sensing, harnessing its two thrilling characteristics: full-body motion sensitivity and environmental sensitivity, which potentially…
Surface electromyography (sEMG) enables continuous hand pose estimation on wearable devices, but models trained on multi-user corpora degrade on unseen individuals due to inter-user variability in anatomy and electrode placement. We propose…
Many people could benefit from exoskeleton assistance during gait, for either medical or nonmedical purposes. But exoskeletons bring added mass and structure, which in turn require compensating for. In this work, we present a lightweight,…
Contactless diagnosis of musculoskeletal disorders can potentially improve population health as well as robot behaviours in collaborative settings. However, current diagnosis methods require an in-person physical examination in which a…
Construction workers exert intense physical effort and experience serious safety and health risks in hazardous working environments. Quiet stance and kneeling are among the most common postures performed by construction workers during their…
Data-driven joint-moment predictors offer a scalable alternative to laboratory-based inverse-dynamics pipelines for biomechanics estimation and exoskeleton control. Meanwhile, physics-based reinforcement learning (RL) enables…
Recent advances in teleoperation have enabled sophisticated manipulation of dexterous robotic hands, with most systems concentrating on guiding finger positions to achieve desired grasp configurations. However, while accurate finger…
Objective: The objective of the study is to efficiently increase the expressivity of surface electromyography-based (sEMG) gesture recognition systems. Approach: We use a problem transformation approach, in which actions were subset into…
The human neuromuscular system consisting of skeletal muscles and neural circuits is a complex system that is not yet fully understood. Surface electromyography (EMG) can be used to study muscle behavior from the outside. Computer…
This study investigates the impact of electrode shift and sensor reapplication on common surface electromyography (sEMG) features in lower limb muscles, factors which have, thus far, precluded clinicians from being able to attribute…
Purpose: Robotic assistance in otologic surgery can reduce the task load of operating surgeons during the removal of bone around the critical structures in the lateral skull base. However, safe deployment into the anatomical passageways…
This paper presents design principles for comfort-centered wearable robots and their application in a lightweight and backdrivable knee exoskeleton. The mitigation of discomfort is treated as mechanical design and control issues and three…