Related papers: Physiology-informed layered sensing for intelligen…
Artificial electronic skins covering complete robot bodies can make physical human-robot collaboration safe and hence possible. Standards for collaborative robots (e.g., ISO/TS 15066) prescribe permissible forces and pressures during…
Whole-arm tactile feedback is crucial for robots to ensure safe physical interaction with their surroundings. This paper introduces CushSense, a fabric-based soft and stretchable tactile-sensing skin designed for physical human-robot…
Recent work has shown that exoskeletons controlled through data-driven methods can dynamically adapt assistance to various tasks for healthy young adults. However, applying these methods to populations with neuromotor gait deficits, such as…
Aging populations and the rising prevalence of neurological and musculoskeletal disorders increase the demand for wearable mobility assistive devices that are effective, comfortable, and anatomically compatible. Many existing systems use…
Quantitative estimation of human joint motion in daily living spaces is essential for early detection and rehabilitation tracking of neuromusculoskeletal disorders (e.g., Parkinson's) and mitigating trip and fall risks for older adults.…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
3D-printed artificial skins are a scalable approach to whole-body tactile and proximity coverage, but prior implementations have been limited to unimodal sensing and rigid materials. To improve the practical usability of 3D-printed…
This study presents a transformer-based deep learning framework for the long-horizon prediction of full lower-limb joint angles and joint moments using surface electromyography (sEMG) and inertial measurement unit (IMU) signals. Two…
Rehabilitation exoskeletons have shown promising results in promoting recovery for stroke patients. Accurately and timely identifying the motion intentions of patients is a critical challenge in enhancing active participation during lower…
We present VersaPants, the first loose-fitting, textile-based capacitive sensing system for lower-body motion capture, built on the open-hardware VersaSens platform. By integrating conductive textile patches and a compact acquisition unit…
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…
Space poses significant challenges for humans, leading to physiological adaptations in response to an environment vastly different from Earth. A comprehensive understanding of these physiological adaptations is needed to devise effective…
Intelligent wearable technology plays an increasingly important role in human-computer interaction, motion, and health monitoring. To ensure comfort and practicality of use, one common form for motion monitoring is to utilize soft wearable…
Smart wearables sense and process information from the user's body and environment and report results of their analysis as electrical signals. Conventional electronic sensors and controllers are commonly, sometimes augmented by recent…
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…
In this article, we propose a deep learning framework that provides a unified approach to the problem of leg contact detection in humanoid robot walking gaits. Our formulation accomplishes to accurately and robustly estimate the contact…
Noninvasive human-machine interfaces such as surface electromyography (sEMG) have long been employed for controlling robotic prostheses. However, classical controllers are limited to few degrees of freedom (DoF). More recently, machine…
In precision sports such as archery, athletes' performance depends on both biomechanical stability and psychological resilience. Traditional motion analysis systems are often expensive and intrusive, limiting their use in natural training…
Restoring limb motor function in individuals with spinal cord injury (SCI), stroke, or amputation remains a critical challenge, one which affects millions worldwide. Recent studies show through surface electromyography (EMG) that spared…
Surface electromyography (sEMG) is a popular bio-signal used for controlling prostheses and finger gesture recognition mechanisms. Myoelectric prostheses are costly, and most commercially available sEMG acquisition systems are not suitable…