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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…
This paper tackles the challenge of automatically assessing physical rehabilitation exercises for patients who perform the exercises without clinician supervision. The objective is to provide a quality score to ensure correct performance…
Electronic Health Records (EHR) systematically organize patient health data through standardized medical codes, serving as a comprehensive and invaluable source for predictive modeling. Graph neural networks (GNNs) have demonstrated…
This study develops and analyzes an extended Susceptible, Infected, Hospitalized and Recovered (SIHR) model incorporating time dependent control functions to capture preventive measures (e.g., distancing, mask use) and resource limited…
The rising number of the elderly incurs growing concern about healthcare, and in particular rehabilitation healthcare. Assistive technology and assistive robotics in particular may help to improve this process. We develop a robot coach…
Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a novel fixed-time adaptive neural control methodology for…
Recurrent or sustained awkward body postures are among the most frequently cited risk factors to the development of work-related musculoskeletal disorders (MSDs). To prevent workers from adopting harmful configurations but also to guide…
Neural control of grasping arises from nonlinear interactions across multiple brain rhythms, yet EEG-based motor decoding has largely relied on linear, second-order spectral features. Here, we examine whether higher-order cross-frequency…
In this article, a biophysically realistic model of a soft octopus arm with internal musculature is presented. The modeling is motivated by experimental observations of sensorimotor control where an arm localizes and reaches a target. Major…
This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…
Supernumerary robotic arms (SRAs) can be used as the third arm to complement and augment the abilities of human users. The user carrying a SRA forms a connected kinodynamic chain, which can be viewed as a special class of floating-base…
A new hybrid tracking controller for neuromuscular electrical stimulation is proposed. The control scheme uses sampled measurements and is designed by utilizing a numerical prediction of the state variables. The tracking error of the…
Due to the complexity of the required numerical codes, many of the new formulations for the evolution of the gravitational fields in numerical relativity are not tested on binary evolutions. We introduce in this paper a new testing ground…
Huber regression (HR) is a popular robust alternative to the least squares regression when the error follows a heavy-tailed distribution. We propose a new method called the enveloped Huber regression (EHR) by considering the envelope…
Accurate disturbance estimation is essential for safe robot operations. The recently proposed neural moving horizon estimation (NeuroMHE), which uses a portable neural network to model the MHE's weightings, has shown promise in further…
Human activity discovery aims to cluster the activities performed by humans without any prior information on what defines each activity. Most methods presented in human activity recognition are supervised, where there are labeled inputs to…
Recent advances in data analytics and computer-aided diagnostics stimulate the vision of patient-centric precision healthcare, where treatment plans are customized based on the health records and needs of every patient. In physical…
Multimodal Recommendation (MMR) systems are crucial for modern platforms but are often hampered by inherent noise and uncertainty in modal features, such as blurry images, diverse visual appearances, or ambiguous text. Existing methods…
A novel framework for a unifying treatment of quaternion valued adaptive filtering algorithms is introduced. This is achieved based on a rigorous account of quaternion differentiability, the proposed I-gradient, and the use of augmented…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…