Related papers: A Multi-Layer Sim-to-Real Framework for Gaze-Drive…
Balance loss is a significant challenge in lower-limb exoskeleton applications, as it can lead to potential falls, thereby impacting user safety and confidence. We introduce a control framework for omnidirectional recovery step planning by…
Effective assisted living environments must be able to perform inferences on how their occupants interact with one another as well as with surrounding objects. To accomplish this goal using a vision-based automated approach, multiple tasks…
The prevalence of mobility impairments due to conditions such as spinal cord injuries, strokes, and degenerative diseases is on the rise globally. Lower-limb exoskeletons have been increasingly recognized as a viable solution for enhancing…
Training helps to maintain and improve sufficient muscle function, body control, and body coordination. These are important to reduce the risk of fracture incidents caused by falls, especially for the elderly or people recovering from…
Humans race drones faster than neural networks trained for end-to-end autonomous flight. This may be related to the ability of human pilots to select task-relevant visual information effectively. This work investigates whether neural…
Virtual Reality (VR) has been utilized for several applications and has shown great potential for rehabilitation, especially for home therapy. However, these systems solely rely on information from VR hand controllers, which do not fully…
Virtual Reality, and Extended Reality in general, connect the physical body with the virtual world. Movement of our body translates to interactions with this virtual world. Only by moving our head will we see a different perspective. By…
Eye gaze estimation and simultaneous semantic understanding of a user through eye images is a crucial component in Virtual and Mixed Reality; enabling energy efficient rendering, multi-focal displays and effective interaction with 3D…
This paper makes two scientific contributions to the field of exoskeleton-based action and movement recognition. First, it presents a novel machine learning and pattern recognition-based framework that can detect a wide range of actions and…
A low-cost 1-DOF hand exoskeleton for neuromuscular rehabilitation has been designed and assembled. It consists of a base equipped with a servo motor, an index finger part, and a thumb part, connected through three gears. The index part has…
Developing exoskeleton controllers that generalize across diverse locomotor conditions typically requires extensive motion-capture data and biomechanical labeling, limiting scalability beyond instrumented laboratory settings. Here, we…
Grasping is a fundamental skill for interacting with the environment. However, this ability can be difficult for some (e.g. due to disability). Wearable robotic solutions can enhance or restore hand function, and recent advances have…
This paper introduces a novel neural network-based reinforcement learning approach for robot gaze control. Our approach enables a robot to learn and to adapt its gaze control strategy for human-robot interaction neither with the use of…
Speed and consistency of target-shifting play a crucial role in human ability to perform complex tasks. Shifting our gaze between objects of interest quickly and consistently requires changes both in depth and direction. Gaze changes in…
Wearable devices like exoskeletons are designed to reduce excessive loads on specific joints of the body. Specifically, single- or two-degrees-of-freedom (DOF) upper-body industrial exoskeletons typically focus on compensating for the…
Wearable exoskeletons can augment human strength and reduce muscle fatigue during specific tasks. However, developing personalized and task-generalizable assistance algorithms remains a critical challenge. To address this, a meta-imitation…
Vision Transformer and its variants have been adopted in many visual tasks due to their powerful capabilities, which also bring significant challenges in computation and storage. Consequently, researchers have introduced various compression…
Skeleton-based human action recognition has recently attracted increasing attention thanks to the accessibility and the popularity of 3D skeleton data. One of the key challenges in skeleton-based action recognition lies in the large view…
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…
Exoskeletons and orthoses are wearable mobile systems providing mechanical benefits to the users. Despite significant improvements in the last decades, the technology is not fully mature to be adopted for strenuous and non-programmed tasks.…