Related papers: Learning a Shape-adaptive Assist-as-needed Rehabil…
Assist-as-needed (AAN) control aims at promoting therapeutic outcomes in robot-assisted rehabilitation by encouraging patients' active participation. Impedance control is used by most AAN controllers to create a compliant force field around…
In this paper, we present AR3n (pronounced as Aaron), an assist-as-needed (AAN) controller that utilizes reinforcement learning to supply adaptive assistance during a robot assisted handwriting rehabilitation task. Unlike previous AAN…
Exoskeletons play a crucial role in assisting patients with varying mobility levels during rehabilitation. However, existing control strategies face challenges such as imprecise trajectory tracking, interaction torque oscillations, and…
In Physical Human--Robot Interaction (pHRI) grippers, humans and robots may contribute simultaneously to actions, so it is necessary to determine how to combine their commands. Control may be swapped from one to the other within certain…
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,…
Individuals with diverse motor abilities often benefit from intensive and specialized rehabilitation therapies aimed at enhancing their functional recovery. Nevertheless, the challenge lies in the restricted availability of…
A control-theoretic framework for autonomous avatar-guided rehabilitation in virtual reality, based on interpretable, adaptive motor guidance through optimal control, is presented. The framework faces critical challenges in motor…
Gait asymmetry is a significant clinical characteristic of hemiplegic gait that most stroke survivors suffer, leading to limited mobility and long-term negative impacts on their quality of life. Although a variety of exoskeleton controls…
Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…
In this paper, we propose a novel framework that allows therapists to teach robot-assisted rehabilitation exercises remotely via RGB-D video. Our system encodes demonstrations as 6-DoF body-centric trajectories using Cartesian Dynamic…
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…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
Artificial intelligence (AI) and robotic coaches promise the improved engagement of patients on rehabilitation exercises through social interaction. While previous work explored the potential of automatically monitoring exercises for AI and…
Although fully autonomous systems still face challenges due to patients' anatomical variability, teleoperated systems appear to be more practical in current healthcare settings. This paper presents an anatomy-aware control framework for…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…
The research of a socially assistive robot has a potential to augment and assist physical therapy sessions for patients with neurological and musculoskeletal problems (e.g. stroke). During a physical therapy session, generating personalized…
This paper introduces the Ambient Intelligence Rehabilitation Support (AIRS) framework, an advanced artificial intelligence-based solution tailored for home rehabilitation environments. AIRS integrates cutting-edge technologies, including…
This paper introduces a manipulation framework for the elastic rod, including shape representation, sensorimotor-model estimation, and shape controller. Until now, the manipulation of the elastic rod has faced several challenges: 1) shape…
Assistive robotic devices can increase the independence of individuals with motor impairments. However, each person is unique in their level of injury, preferences, and skills, which moreover can change over time. Further, the amount of…
Assistive robots have growing potential to support physical wellbeing in home and healthcare settings, for example, by guiding users through stretching or rehabilitation routines. However, existing systems remain largely scripted, which…