Related papers: A real-time full-chain wearable sensor-based muscu…
Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…
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…
Existing robotic lower-limb prostheses use autonomous control to address cyclic, locomotive tasks, but they are inadequate to operate the prosthesis for daily activities that are non-cyclic and unpredictable. To address this challenge, this…
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
Simulating optical tactile sensors presents significant challenges due to their high deformability and intricate optical properties. To address these issues and enable a physically accurate simulation, we propose DOT-Sim: Differentiable…
Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid body designs and an optical tracking volume setup for…
High-fidelity personalized human musculoskeletal models are crucial for simulating realistic behavior of physically coupled human-robot interactive systems and verifying their safety-critical applications in simulations before actual…
Robust multisensor fusion of multi-modal measurements such as IMUs, wheel encoders, cameras, LiDARs, and GPS holds great potential due to its innate ability to improve resilience to sensor failures and measurement outliers, thereby enabling…
This paper presents a framework for monitoring human and robot conditions in human multi-robot interactions. The proposed framework consists of four modules: 1) human and robot conditions monitoring interface, 2) synchronization time…
Background. Joint range of motion (ROM) is an important quantitative measure for physical therapy. Commonly relying on a goniometer, accurate and reliable ROM measurement requires extensive training and practice. This, in turn, imposes a…
Lower limb exoskeletons show promise to assist human movement, but their utility is limited by controllers designed for discrete, predefined actions in controlled environments, restricting their real-world applicability. We present an…
Physics-based modeling and dynamic simulation of human eye movements has significant implications for improving our understanding of the oculomotor system and treating various visuomotor disorders. We introduce an open-source biomechanical…
In this paper, we introduce a consistency-driven dual LSTM framework for accurately learning both the forward and inverse kinematics of a pneumatically actuated soft robotic arm integrated into a wearable device. This approach effectively…
One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…
Integrating real-time, complex social signal processing into robotic systems -- especially in real-world, multi-party interaction situations -- is a challenge faced by many in the Human-Robot Interaction (HRI) community. The difficulty is…
Assistive robotic devices, like soft lower-limb exoskeletons or exosuits, are widely spreading with the promise of helping people in everyday life. To make such systems adaptive to the variety of users wearing them, it is desirable to endow…
Developing exoskeleton controllers that generalize across diverse locomotor conditions typically requires extensive motion-capture data and biomechanical labeling, limiting scalability beyond instrumented laboratory settings. Here, we…
In this paper, we develop a virtual reality (VR) simulator for the Robossis robot-assisted femur fracture surgery. Due to the steep learning curve for such procedures, a VR simulator is essential for training surgeon(s) and staff. The…
The natural interaction and control performance of lower limb rehabilitation robots are closely linked to biomechanical information from various human locomotion activities. Multidimensional human motion data significantly deepen the…
This paper introduces IRIS, an Immersive Robot Interaction System leveraging Extended Reality (XR). Existing XR-based systems enable efficient data collection but are often challenging to reproduce and reuse due to their specificity to…