Related papers: Soft Semi-active Back Support Device with Adaptive…
Many soft robots struggle to produce dynamic motions with fast, large displacements. We develop a parallel 6 degree-of-freedom (DoF) Stewart-Gough mechanism using Handed Shearing Auxetic (HSA) actuators. By using soft actuators, we are able…
Body weight support (BWS) is a fundamental technique in rehabilitation. Along with the dramatic progressing of rehabilitation science and engineering, BWS is quickly evolving with new initiatives and has attracted deep research effort in…
Stroke is a medical condition that can affect motor function, particularly dynamic balance. Biofeedback can aid in rehabilitation procedures which help patients to regain lost motor activity and recover functionality. In this work, we are…
Wearable devices are often used in clinical and epidemiological studies to monitor physical activity behavior and its influence on health outcomes. These devices are worn over multiple days to record activity patterns, such as step counts…
We demonstrate the control scheme of an active platform with a six degree of freedom (6D) seismometer. The inertial sensor simultaneously measures translational and tilt degrees of freedom of the platform and does not require any additional…
Shape transformation, a key mechanism for organismal survival and adaptation, has gained importance across fields as diverse as electronics and medicine. However, designing and controlling microscale shape-shifting materials remains a…
We prove that aerodynamic co-contraction in a redundant dual-rotor actuator can tune a passive, trim-defined aero-mechanical damping while keeping the commanded net force constant. In particular, we define an incremental damping coefficient…
Wearable, implantable, and ingestible antennas are continuously evolving in biomedical applications, as they are crucial components in devices used for monitoring and controlling physiological parameters. This work presents an…
The ability to adapt and conform to angular and uneven surfaces improves the suction cup's performance in grasping and manipulation. However, in most cases, the adaptation costs lack of required stiffness for manipulation after surface…
We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…
Position sensitive detectors (PSDs) offer possibility to track single active marker's two (or three) degrees of freedom (DoF) position with a high accuracy, while having a fast response time with high update frequency and low latency, all…
State-of-the-art Active Speaker Detection (ASD) approaches mainly use audio and facial features as input. However, the main hypothesis in this paper is that body dynamics is also highly correlated to "speaking" (and "listening") actions and…
This work represents an initial benchmark of a large-scale soft robot performing physical, collaborative manipulation of a long, extended object with a human partner. The robot consists of a pneumatically-actuated, three-link continuum soft…
Classical rigid-bodied robotic systems are presented with proven success in theoretical development and industrial applications, are recently challenged by the emergence of soft robotics due to a growing need in physical human-robot…
One of the main causes of long-term prosthetic abandonment is the lack of ownership over the prosthesis, caused mainly by the absence of sensory information regarding the lost limb. One strategy to overcome this problem is to provide…
Robotic sensorimotor extensions (supernumerary limbs, prosthesis, handheld tools) are worn devices used to interact with the nearby environment, whether to assist the capabilities of impaired users or to enhance the dexterity of industrial…
A common challenge in Bicep Curls rehabilitation is muscle compensation, where patients adopt alternative movement patterns when the primary muscle group cannot act due to injury or fatigue, significantly decreasing the effectiveness of…
Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…
Using shear wave elastography, we measure the changes in the wave speed with the stress produced by a striated muscle during isometric voluntary contraction. To isolate the behaviour of an individual muscle from complementary or…
Soft robotic suits have the potential to rehabilitate, assist, and augment the human body. The low weight, cost, and minimal form-factor of these devices make them ideal for daily use by both healthy and impaired individuals. However,…