Related papers: A Force Feedback Exoskeleton for Teleoperation Usi…
Telemanipulation has become a promising technology that combines human intelligence with robotic capabilities to perform tasks remotely. However, it faces several challenges such as insufficient transparency, low immersion, and limited…
This paper presents a model based experimental investigation to demonstrate the usefulness of an active damping strategy to manage fluid sloshing motion in spacecraft tanks. The active damping strategy is designed to reduce the degrading…
Humanoid locomotion requires not only accurate command tracking for navigation but also compliant responses to external forces during human interaction. Despite significant progress, existing RL approaches mainly emphasize robustness,…
Robotic teleoperation will allow us to perform complex manipulation tasks in dangerous or remote environments, such as needed for planetary exploration or nuclear decommissioning. This work proposes a novel telemanipulation architecture…
Exoskeletons and orthoses are wearable mobile systems providing mechanical benefits to the users. Despite significant improvements in the last decades, the technology is not fully mature to be adopted for strenuous and non-programmed tasks.…
Physical movement therapy is a crucial method of rehabilitation aimed at reinstating mobility among patients facing motor dysfunction due to neurological conditions or accidents. Such therapy is usually featured as patient-specific,…
The aim of this work is to improve musculoskeletal-based models of the upper-limb Wrench Feasible Set i.e. the set of achievable maximal wrenches at the hand for applications in collaborative robotics and computer aided ergonomics. In…
In minimally invasive telesurgery, obtaining accurate force information is difficult due to the complexities of in-vivo end effector force sensing. This constrains development and implementation of haptic feedback and force-based automated…
Telecommunication (Telco) outdoor position recovery aims to localize outdoor mobile devices by leveraging measurement report (MR) data. Unfortunately, Telco position recovery requires sufficient amount of MR samples across different areas…
Magneto-mechanical resonators (MMRs) represent a recently proposed type of passive sensor that enables the estimation of its pose as well as sensing other parameters in its environment. The working principle of MMRs entails an excitation of…
A novel sensory substitution technique is presented. Kinesthetic and cutaneous force feedback are substituted by cutaneous feedback (CF) only, provided by two wearable devices able to apply forces to the index finger and the thumb, while…
Control of wheeled humanoid locomotion is a challenging problem due to the nonlinear dynamics and under-actuated characteristics of these robots. Traditionally, feedback controllers have been utilized for stabilization and locomotion.…
Haptic feedback enhances collision avoidance by providing directional obstacle information to operators during unmanned aerial vehicle (UAV) teleoperation. However, such feedback is often rendered via haptic joysticks, which are unfamiliar…
Shape sensing of medical continuum robots is important both for closed-loop control as well as for enabling the clinician to visualize the robot inside the body. There is a need for inexpensive, but accurate shape sensing technologies. This…
High-fidelity simulators for the lunar surface provide a digital environment for extensive testing of rover operations and mission planning. However, current simulators focus on either visual realism or physical accuracy, which limits their…
Conventional reinforcement learning (RL) approaches often struggle to learn effective policies under sparse reward conditions, necessitating the manual design of complex, task-specific reward functions. To address this limitation,…
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…
Conventional reinforcement learning (RL) ap proaches often struggle to learn effective policies under sparse reward conditions, necessitating the manual design of complex, task-specific reward functions. To address this limitation, rein…
This study presents a speech-based motion planning strategy (SBMP) developed for lower limb exoskeletons to facilitate safe and compliant human-robot interaction. A speech processing system, finite state machine, and central pattern…
Age-related mobility decline is frequently accompanied by a redistribution of joint kinetics, where older adults compensate for reduced ankle function by increasing demand on the hip. Paradoxically, this compensatory shift typically…