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A portable imaging system for the on-site detection of shoulder injury is necessary to identify its extent and avoid its development to severe condition. Here, firstly a microwave tomography system is introduced using state-of-the-art…
Movement synchrony reflects the coordination of body movements between interacting dyads. The estimation of movement synchrony has been automated by powerful deep learning models such as transformer networks. However, instead of designing a…
Unmanned aerial vehicles (UAVs) operating in cluttered environments require efficient and accurate impact modeling to maintain stability post collisions, however classical impulse contact models decouple the normal and tangential…
This paper aims to design an optimal stability controller for a point to point trajectory tracking 3 degree of freedom articulated manipulator. The DH convention is used to obtain the forward and inverse kinematics of the manipulator. The…
Human-machine interfaces (HMI) play a pivotal role in the rehabilitation and daily assistance of lower-limb amputees. The brain of such interfaces is a control model that detects the user's intention using sensor input and generates…
Work environments are often inadequate and lack inclusivity for individuals with upper-body disabilities. This paper presents a novel online framework for adaptive human-robot interaction (HRI) that accommodates users' arm mobility…
This paper introduces an upper limb postural optimization method for enhancing physical ergonomics and force manipulability during bimanual human-robot co-carrying tasks. Existing research typically emphasizes human safety or manipulative…
This paper presents a novel Lagrangian approach to attitude tracking for rigid spacecraft using unit quaternions, where the motion equations of a spacecraft are described by a four degrees of freedom Lagrangian dynamics subject to a…
Manipulation in contrast to grasping is a trajectorial task that needs to use dexterous hands. Improving the dexterity of robot hands, increases the controller complexity and thus requires to use the concept of postural synergies. Inspired…
Objective: Non-rigid image registration with high accuracy and efficiency is still a challenging task for medical image analysis. In this work, we present the spatially region-weighted correlation ratio (SRWCR) as a novel similarity measure…
Sprawling locomotion in vertebrates, particularly salamanders, demonstrates how body undulation and spinal mobility enhance stability, maneuverability, and adaptability across complex terrains. While prior work has separately explored…
Recent literature suggests that the surface electromyography (sEMG) signals have non-stationary statistical characteristics specifically due to random nature of the covariance. Thus suitability of a statistical model for sEMG signals is…
Adaptive controllers on quadrotors typically rely on estimation of disturbances to ensure robust trajectory tracking. Estimating disturbances across diverse environmental contexts is challenging due to the inherent variability and…
Mathematical modeling of cardiac function can provide augmented simulation-based diagnosis tool for complementing and extending human understanding of cardiac diseases which represent the most common cause of worldwide death. As the…
The role of mental simulation in human physical reasoning is widely acknowledged, but whether it is employed across scenarios with varying simulation costs and where its boundary lies remains unclear. Using a pouring-marble task, our human…
We propose a novel quaternion product unit (QPU) to represent data on 3D rotation groups. The QPU leverages quaternion algebra and the law of 3D rotation group, representing 3D rotation data as quaternions and merging them via a weighted…
Inertial motion capture systems widely use low-cost IMUs to obtain the orientation of human body segments, but these sensors alone are unable to estimate link positions. Therefore, this research used a SLAM method in conjunction with…
This paper presents modeling and simulation of a spined quadruped robot. Extended literature survey is employed and spine joints researches of the quadruped robots are classified. Most of the researchers execute simplified quadruped robot…
The optimization of real scalar functions of quaternion variables, such as the mean square error or array output power, underpins many practical applications. Solutions often require the calculation of the gradient and Hessian, however,…
Human Activity Recognition (HAR) is one of the fundamental building blocks of human assistive devices like orthoses and exoskeletons. There are different approaches to HAR depending on the application. Numerous studies have been focused on…