Related papers: Human-in-the-loop Optimisation in Robot-assisted G…
This paper presents advancements in the functionalities of the Recupera-Reha lower extremity exoskeleton robot. The exoskeleton features a series-parallel hybrid design characterized by multiple kinematic loops resulting in 148 degrees of…
Step adjustment for humanoid robots has been shown to improve robustness in gaits. However, step duration adaptation is often neglected in control strategies. In this paper, we propose an approach that combines both step location and timing…
Wearable Cognitive Assistance (WCA) applications present a challenge to benchmark and characterize due to their human-in-the-loop nature. Employing user testing to optimize system parameters is generally not feasible, given the scope of the…
Partial-assistance exoskeletons hold significant potential for gait rehabilitation by promoting active participation during (re)learning of normative walking patterns. Typically, the control of interaction torques in partial-assistance…
This paper proposes a task-specific trajectory optimization framework for human-robot collaboration, enabling adaptive motion planning based on human interaction dynamics. Unlike conventional approaches that rely on predefined desired…
Heating, Ventilation, and Air Conditioning (HVAC) systems account for approximately 38% of building energy consumption globally, making them one of the most energy-intensive services. The increasing emphasis on energy efficiency and…
This paper presents a personalized gait optimization framework for lower-body exoskeletons. Rather than optimizing numerical objectives such as the mechanical cost of transport, our approach directly learns from user preferences, e.g., for…
Work environments are often inadequate and lack inclusivity for individuals with upper-body disabilities. This paper presents a novel online framework for adaptive human-robot interaction (HRI) that accommodates users' arm mobility…
Inertial Confinement Fusion (ICF) holds transformative promise for sustainable, near-limitless clean energy, yet remains constrained by prohibitively high costs and limited experimental opportunities. This paper presents Human-in-the-Loop…
This paper proposes a novel method to enhance locomotion for a single humanoid robot through cooperative-heterogeneous multi-agent deep reinforcement learning (MARL). While most existing methods typically employ single-agent reinforcement…
Human-machine interfaces (HMI) play a pivotal role in the rehabilitation and daily assistance of lower-limb amputees. The brain of such interfaces is a control model that detects the user's intention using sensor input and generates…
As humanoid robots enter real-world environments, ensuring robust locomotion across diverse environments is crucial. This paper presents a computationally efficient hierarchical control framework for humanoid robot locomotion based on…
This paper presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work has shown that providing some freedom of movement around a…
Humanoid robots have the promise of locomoting like humans, including fast and dynamic running. Recently, reinforcement learning (RL) controllers that can mimic human motions have become popular as they can generate very dynamic behaviors,…
Walking controllers often require parametrization which must be tuned according to some cost function. To estimate these parameters, simulations can be performed which are cheap but do not fully represent reality. Real-robot experiments, on…
The complexity of a legged robot's environment or task can inform how specialised its gait must be to ensure success. Evolving specialised robotic gaits demands many evaluations - acceptable for computer simulations, but not for physical…
Mutual adaptation can significantly enhance overall task performance in human-robot co-transportation by integrating both the robot's and human's understanding of the environment. While human modeling helps capture humans' subjective…
The co-adaptation of robots has been a long-standing research endeavour with the goal of adapting both body and behaviour of a system for a given task, inspired by the natural evolution of animals. Co-adaptation has the potential to…
In this paper, we present an integrated human-in-the-loop simulation paradigm for the design and evaluation of a lower extremity exoskeleton that is elastically strapped onto human lower limbs. The exoskeleton has 3 rotational DOFs on each…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…