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The recognition of actions performed by humans and the anticipation of their intentions are important enablers to yield sociable and successful collaboration in human-robot teams. Meanwhile, robots should have the capacity to deal with…
Computer-aided assessment of physical rehabilitation entails evaluation of patient performance in completing prescribed rehabilitation exercises, based on processing movement data captured with a sensory system. Despite the essential role…
Even though many machine algorithms have been proposed for entity resolution, it remains very challenging to find a solution with quality guarantees. In this paper, we propose a novel HUman and Machine cOoperation (HUMO) framework for…
Due to their ability to adapt to different terrains, quadruped robots have drawn much attention in the research field of robot learning. Legged mobile manipulation, where a quadruped robot is equipped with a robotic arm, can greatly enhance…
The present research builds on a recently proposed spatial prediction method for discretized two-dimensional data, based on a suitably modified planar rotator (MPR) spin model from statistical physics. This approach maps the measured data…
Utilizing spherical harmonic (SH) domain has been established as the default method of obtaining continuity over space in head-related transfer functions (HRTFs). This paper concerns different variants of extending this solution by…
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…
Reverse Shoulder Arthroplasty (RSA) has become a very common procedure for shoulder joint replacement, even for scenarios where an anatomical reconstruction would traditionally be used. In this study, we investigate joint reaction forces…
In many mechatronic applications, controller input costs are negligible and time optimality is of great importance to maximize the productivity by executing fast positioning maneuvers. As a result, the obtained control input has mostly a…
Quaternions provide a unified algebraic and geometric framework for representing three-dimensional rotations without the singularities that afflict Euler-angle parametrisations. This article develops a pedagogical and conceptual analysis of…
Skeleton-based Human Activity Recognition has achieved great interest in recent years as skeleton data has demonstrated being robust to illumination changes, body scales, dynamic camera views, and complex background. In particular,…
We propose a learning-based trajectory tracking controller for autonomous robotic platforms whose motion can be described kinematically on $\mathrm{SE}(3)$. The controller is formulated in the dual quaternion framework and operates at the…
Prosthesis users can regain partial limb functionality, however, full natural limb mobility is rarely restored, often resulting in compensatory movements that lead to discomfort, inefficiency, and long-term physical strain. To address this…
Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robotic end-effectors can adapt their shape…
We propose a disease classification model, called the QC-SPHARM, for the early detection of the Alzheimer's Disease (AD). The proposed QC-SPHARM can distinguish between normal control (NC) subjects and AD patients, as well as between…
Rehabilitation technology is a natural setting to study the shared learning and decision-making of human and machine agents. In this work, we explore the use of Hierarchical Reinforcement Learning (HRL) to develop adaptive control…
Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…
Aerial manipulation combines the maneuverability of multirotors with the dexterity of robotic arms to perform complex tasks in cluttered spaces. Yet planning safe, dynamically feasible trajectories remains difficult due to whole-body…
Achieving human-level dexterity in contact-rich, tool-mediated manipulation remains a significant challenge due to visual occlusion and the underdetermined nature of haptic sensing. This paper introduces a parameterized Equilibrium Manifold…
Human Activity Recognition (HAR) based on wearable inertial sensors plays a critical role in remote health monitoring. In patients with movement disorders, the ability to detect abnormal patient movements in their home environments can…