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Changes in body perception influence behavior and emotion and can be induced through multisensory feedback. Auditory feedback to one's actions can trigger such alterations; however, it is unclear which individual factors modulate these…
Soft materials capable of large inelastic deformation play an essential role in high-performance nacre-inspired architectured materials with a combination of stiffness, strength and toughness. The rigid "building blocks" made from glass or…
Robots have been brought to work close to humans in many scenarios. For coexistence and collaboration, robots should be safe and pleasant for humans to interact with. To this end, the robots could be both physically soft with multimodal…
Early identification of individuals at risk of stroke remains a major clinical challenge, as prodromal motor im- pairments are often subtle and transient. In this pilot study, a wearable sensor-based framework is proposed for early pre-…
Current visual implants still provide very low resolution and limited field of view, thus limiting visual acuity in implanted patients. Developments of new strategies of artificial vision simulation systems by harnessing new advancements in…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
Successfully achieving bipedal locomotion remains challenging due to real-world factors such as model uncertainty, random disturbances, and imperfect state estimation. In this work, we propose a novel metric for locomotive robustness -- the…
Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…
Inverse Kinematics (IK) remains a dynamic field of research, with various methods striving for speed and precision. Despite advancements, many IK techniques face significant challenges, including high computational demands and the risk of…
Mobile robots joining public spaces like sidewalks must care for pedestrian comfort. Many studies consider pedestrians' objective safety, for example, by developing collision avoidance algorithms, but not enough studies take the…
In this paper the dielectric properties of human trabecular bone are evaluated under physiological condition in the microwave range. Assuming a two components medium, simulation and experimental data are presented and discussed. A special…
One of the most crucial steps in creating practical quantum computers is designing scalable and efficient superconducting qubits. Coherence times, connections between individual qubits, and reduction of environmental noise are critical…
This research aims to develop a method to reduce the time cost and complexity of balloon expandable stent simulations in cardiovascular stenting procedures for Peripheral Artery Disease. The study uses stereoscopic images to construct a…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
Introduction: Mechanical thrombectomy can cause vessel deformation and procedure-related injury. Benchtop models are widely used for device testing, but time-resolved, full-field 3D vessel-motion measurements remain limited. Methods: We…
The purpose of this study was to report numerical validation of a 3D finite element model of contracting muscle. The model was based on continuum theory for fibre-reinforced composite materials. Here we simulated contractions for an…
Despite extensive studies on motion stabilization of bipeds, they still suffer from the lack of disturbance coping capability on slippery surfaces. In this paper, a novel controller for stabilizing a bipedal motion in its sagittal plane is…
Movement disorders impact muscle strength and mobility, and despite therapeutic efforts, many people with movement disorders have challenges functioning independently. Soft wearable robots, or exosuits, offer a promising solution for…
The present paper is concerned with the formulation of new assembly methods of bi-material tensegrity prisms, and the experimental characterization of the compressive response of such structures. The presented assembly techniques are easy…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…