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In previous work, the authors proposed a data-driven optimisation algorithm for the personalisation of human-prosthetic interfaces, demonstrating the possibility of adapting prosthesis behaviour to its user while the user performs tasks…
Mobility impairment caused by limb loss is a significant challenge faced by millions of individuals worldwide. The development of advanced assistive technologies, such as prosthetic devices, has the potential to greatly improve the quality…
This study presents the design and the kinematic optimization of a novel, underactuated, linkage-based robotic hand exoskeleton to assist users in performing grasping tasks. The device has been designed to apply only normal forces to the…
This work represents an initial benchmark of a large-scale soft robot performing physical, collaborative manipulation of a long, extended object with a human partner. The robot consists of a pneumatically-actuated, three-link continuum soft…
Human motion prediction is an essential step for efficient and safe human-robot collaboration. Current methods either purely rely on representing the human joints in some form of neural network-based architecture or use regression models…
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
Wearable exoskeletons can augment human strength and reduce muscle fatigue during specific tasks. However, developing personalized and task-generalizable assistance algorithms remains a critical challenge. To address this, a meta-imitation…
The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…
The emergence of robot-based body augmentation promises exciting innovations that will inform robotics, human-machine interaction, and wearable electronics. Even though augmentative devices like extra robotic arms and fingers in many ways…
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
Shared control in assistive robotics blends human autonomy with computer assistance, thus simplifying complex tasks for individuals with physical impairments. This study assesses an adaptive Degrees of Freedom control method specifically…
Despite advances in upper-limb (UL) prosthetic design, achieving intuitive control of intermediate joints - such as the wrist and elbow - remains challenging, particularly for continuous and velocity-modulated movements. We introduce a…
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…
This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…
Neurorehabilitation conventionally relies on the interaction between a patient and a physical therapist. Robotic systems can improve and enrich the physical feedback provided to patients after neurological injury, but they under-utilize the…
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…
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…
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…