Related papers: A Framework for Adaptive Load Redistribution in Hu…
In this paper we address the problem of robot movement adaptation under various environmental constraints interactively. Motion primitives are generally adopted to generate target motion from demonstrations. However, their generalization…
Rehabilitation training for patients with motor disabilities usually requires specialized devices in rehabilitation centers. Home-based multi-purpose training would significantly increase treatment accessibility and reduce medical costs.…
This paper describes a novel approach in human robot interaction driven by ergonomics. With a clear focus on optimising ergonomics, the approach proposed here continuously observes a human user's posture and by invoking appropriate…
Back-support exoskeletons are commonly used in the workplace to reduce low back pain risk for workers performing demanding activities. However, for the assistance of tasks differing from lifting, back-support exoskeletons potential has not…
This paper introduces an upper limb postural optimization method for enhancing physical ergonomics and force manipulability during bimanual human-robot co-carrying tasks. Existing research typically emphasizes human safety or manipulative…
This paper proposes an adaptive gravity compensation (AGC) control strategy for a cable-driven upper-limb exosuit intended to assist the wearer with lifting tasks. Unlike most model-based control techniques used for this human-robot…
There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…
The shoulder is responsible for the movement of the entire upper limb. It is capable of articulating in three degrees-of-freedom (DOF), enabling the arm to perform manipulation actions with incomparable dexterity. Exoskeletons targeting the…
Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks' complexity and intrinsic environmental unpredictability. Studying biological motor control can provide…
Learning generalizable visual representations across different embodied environments is essential for effective robotic manipulation in real-world scenarios. However, the limited scale and diversity of robot demonstration data pose a…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Bimanual robotic manipulation is an emerging and critical topic in the robotics community. Previous works primarily rely on integrated control models that take the perceptions and states of both arms as inputs to directly predict their…
Model-based controllers using a linearized model around the system's equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational load and ease of stability analysis. However, controlling a…
An exoskeleton is a wearable electromechanical structure that is intended to resemble and allow movements in a manner similar to the human skeletal system. They can be used by both disabled and able people alike to increase physical…
The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot…
Conjoined collaborative robots, functioning as supernumerary robotic bodies (SRBs), can enhance human load tolerance abilities. However, in tasks involving physical interaction with humans, users may still adopt awkward, non-ergonomic…
Robotic systems are increasingly used in rehabilitation to provide high intensity training for patients with motor impairment. The results of controlled trials involving human subjects confirm the effectiveness of robot-enhanced methods and…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices, and in homes. Automated assembly is one of the key…
Passive shoulder exoskeletons have been widely introduced in the industry to aid upper extremity movements during repetitive overhead work. As an ergonomic intervention, it is important to understand how users adapt to these devices over…