Related papers: Integrating Ergonomics and Manipulability for Uppe…
Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…
Synergistic prostheses enable the coordinated movement of the human-prosthetic arm, as required by activities of daily living. This is achieved by coupling the motion of the prosthesis to the human command, such as the residual limb…
Despite cobots have high potential in bringing several benefits in the manufacturing and logistic processes, but their rapid (re-)deployment in changing environments is still limited. To enable fast adaptation to new product demands and to…
The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot…
The recognition of actions performed by humans and the anticipation of their intentions are important enablers to yield sociable and successful collaboration in human-robot teams. Meanwhile, robots should have the capacity to deal with…
The integration of advanced control strategies into prosthetic hands is essential to improve their adaptability and performance. In this study, we present an implementation of a Model Predictive Control (MPC) strategy to regulate the…
In this paper, we present an approach for generating a variety of whole-body motions for a humanoid robot. We extend the available Model Predictive Control (MPC) approaches for walking on flat terrain to plan for both vertical motion of the…
Autonomous mobile manipulation offers a dual advantage of mobility provided by a mobile platform and dexterity afforded by the manipulator. In this paper, we present a whole-body optimal control framework to jointly solve the problems of…
Current orthopedic robotic systems largely focus on navigation, aiding surgeons in positioning a guiding tube but still requiring manual drilling and screw placement. The automation of this task not only demands high precision and safety…
When a human performs a given specific task, it has been known that the central nervous system controls modularized muscle group, which is called muscle synergy. For human-robot interface design problem, therefore, the muscle synergy can be…
The aim of this study is to assess the performances of the global optimisation (GO) method (Bone position estimation from skin marker co-ordinates using GO with joint constraints. Journal of Biomechanics 32, 129-134) within the upper limb…
Robot arm placements are oftentimes a limitation in surgical preoperative procedures, relying on trained staff to evaluate and decide on the optimal positions for the arms. Given new and different patient anatomies, it can be challenging to…
Robotics has shown significant potential in assisting people with disabilities to enhance their independence and involvement in daily activities. Indeed, a societal long-term impact is expected in home-care assistance with the deployment of…
Balancing oneself using the spine is a physiological alignment of the body posture in the most efficient manner by the muscular forces for mammals. For this reason, we can see many disabled quadruped animals can still stand or walk even…
Achieving human-like motion in robots has been a fundamental goal in many areas of robotics research. Inverse kinematic (IK) solvers have been explored as a solution to provide kinematic structures with anthropomorphic movements. In…
Myoelectric prosthetic hands are intended to replace the function of the amputee's lost arm. Therefore, developing robotic prosthetics that can mimic not only the appearance and functionality of humans but also characteristics unique to…
A typical application of upper-limb exoskeleton robots is deployment in rehabilitation training, helping patients to regain manipulative abilities. However, as the patient is not always capable of following the robot, safety issues may…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
Collaborative robots should ideally use low torque actuators for passive safety reasons. However, some applications require these collaborative robots to reach deep into confined spaces while assisting a human operator in physically…
We present a method to simulate movement in interaction with computers, using Model Predictive Control (MPC). The method starts from understanding interaction from an Optimal Feedback Control (OFC) perspective. We assume that users aim to…