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Objective: Overhead tasks are a primary inducement to work-related musculoskeletal disorders. Aiming to reduce shoulder physical loads, passive shoulder exoskeletons are increasingly prevalent in the industry due to their lightweight,…
The embodied learning of human motor control requires whole-body neuro-actuated musculoskeletal dynamics, while the internal muscle-driven processes underlying movement remain inaccessible to direct measurement. Computational modeling…
Physical rehabilitation exercises suggested by healthcare professionals can help recovery from various musculoskeletal disorders and prevent re-injury. However, patients' engagement tends to decrease over time without direct supervision,…
Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control…
Structural health monitoring (SHM) has been an active research area for the last three decades, and has accumulated a number of critical advances over that period, as can be seen in the literature. However, SHM is still facing challenges…
Denavit and Hartenberg-based methods, such as Cardan, Fick, and Euler angles, describe the position and orientation of an end-effector in three-dimensional (3D) space. However, these methods have a significant drawback as they impose a…
Human Activity Recognition (HAR) is one of the essential building blocks of so many applications like security, monitoring, the internet of things and human-robot interaction. The research community has developed various methodologies to…
This paper presents a novel trajectory tracker for autonomous quadrotor navigation in dynamic and complex environments. The proposed framework integrates a distributional Reinforcement Learning (RL) estimator for unknown aerodynamic effects…
Motivated by the geometric advantages of quaternions in representing rotations and postures, we propose a quaternion-valued supervised learning Hopfield-structured neural network (QSHNN) with a fully connected structure inspired by the…
Objective: Shoulder exoskeletons can effectively assist with overhead work. However, their impacts on muscle synergy remain unclear. The objective is to systematically investigate the effects of the shoulder exoskeleton on muscle synergies…
Supernumerary Robotics Device (SRD) is an ideal solution to provide robotic assistance in overhead manual manipulation. Since two arms are occupied for the overhead task, it is desired to have additional arms to assist us in achieving other…
Aerial manipulators (AM) exhibit particularly challenging, non-linear dynamics; the UAV and the manipulator it is carrying form a tightly coupled dynamic system, mutually impacting each other. The mathematical model describing these…
High-resolution manometry (HRM) is the primary procedure used to diagnose esophageal motility disorders. Its interpretation and classification includes an initial evaluation of swallow-level outcomes and then derivation of a study-level…
Human motion prediction is an essential step for efficient and safe human-robot collaboration. Current methods either purely rely on representing the human joints in some form of neural network-based architecture or use regression models…
Assistive robots for healthcare have seen a growing demand due to the great potential of relieving medical practitioners from routine jobs. In this paper, we investigate the development of an optimization-based control framework for an…
This paper proposes a hybrid learning and optimization framework for mobile manipulators for complex and physically interactive tasks. The framework exploits an admittance-type physical interface to obtain intuitive and simplified human…
We review the general problem of finding a global rotation that transforms a given set of points and/or coordinate frames (the "test" data) into the best possible alignment with a corresponding set (the "reference" data). For 3D point data,…
This paper presents an optimal motion planning framework to generate versatile energy-optimal quadrupedal jumping motions automatically (e.g., flips, spin). The jumping motions via the centroidal dynamics are formulated as a 12-dimensional…
We present a model-predictive control (MPC) framework for legged robots that avoids the singularities associated with common three-parameter attitude representations like Euler angles during large-angle rotations. Our method parameterizes…
The modeling and simulation of coupled neuromusculoskeletal-exoskeletal systems play a crucial role in human biomechanical analysis, as well as in the design and control of exoskeletons. However, conventional dynamic simulation frameworks…