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This paper analyses joint-space walking mechanisms and redundancies in delivering functional gait outcomes. Multiple biomechanical measures are analysed for two healthy male adults who participated in a multi-factorial study and walked…
Many contact-rich tasks humans perform, such as box pickup or rolling dough, rely on force feedback for reliable execution. However, this force information, which is readily available in most robot arms, is not commonly used in…
The presence of post-stroke grasping deficiencies highlights the critical need for the development and implementation of advanced compensatory strategies. This paper introduces a novel system to aid chronic stroke survivors through the…
Reinforcement learning has become the central approach for language models (LMs) to learn from environmental reward or feedback. In practice, the environmental feedback is usually sparse and delayed. Learning from such signals is…
Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstation-like counterparts. However, the field is generally lacking effective methods by which the user can operate the device: such…
Dementia has serious consequences for the daily life of the person affected due to the decline in the their cognitive, behavioral and functional abilities. Caring for people living with dementia can be challenging and distressing.…
How do people build up trust with artificial agents? Here, we study a key component of interpersonal trust: people's ability to evaluate the competence of another agent across repeated interactions. Prior work has largely focused on…
The population of elderly people has been increasing at a rapid rate over the last few decades and their population is expected to further increase in the upcoming future. Their increasing population is associated with their increasing…
This article presents a case study demonstrating a non-intrusive method for the well-being monitoring of elderly people. It is based on our real-time energy measurement system, which uses tiny beacons attached to electricity meters. Four…
We propose a hybrid combination of active inference and behavior trees (BTs) for reactive action planning and execution in dynamic environments, showing how robotic tasks can be formulated as a free-energy minimization problem. The proposed…
We address the problem of accurate capture of interactive behaviors between two people in daily scenarios. Most previous works either only consider one person or solely focus on conversational gestures of two people, assuming the body…
The relationship between physiological systems and modern electromechanical technologies is fast becoming intimate with high degrees of complex interaction. It can be argued that muscular function, limb movements, and touch perception serve…
Robots usually establish contacts at rigid surfaces with near-zero relative velocities. Otherwise, impact-induced energy propagates in the robot's linkage and may cause irreversible damage to the hardware. Moreover, abrupt changes in…
We are living longer in times of the biggest technological revolution humanity had ever seen before. Trying to understand how these two facts interact with each other, or more specifically, trying to maximise the benefits that new…
Wearable devices, such as smartwatches and head-mounted displays, are increasingly used for prolonged tasks like remote learning and work, but sustained interaction often leads to user fatigue, reducing efficiency and engagement. This study…
Through the quantification of physical activity energy expenditure (PAEE), health care monitoring has the potential to stimulate vital and healthy ageing, inducing behavioural changes in older people and linking these to personal health…
The Otago Exercise Program (OEP) represents a crucial rehabilitation initiative tailored for older adults, aimed at enhancing balance and strength. Despite previous efforts utilizing wearable sensors for OEP recognition, existing studies…
This paper proposes an interactive system for mobile devices controlled by hand gestures aimed at helping people with visual impairments. This system allows the user to interact with the device by making simple static and dynamic hand…
Task-oriented dialog systems have been applied in various tasks, such as automated personal assistants, customer service providers and tutors. These systems work well when users have clear and explicit intentions that are well-aligned to…
Recent work in reinforcement learning has focused on several characteristics of learned policies that go beyond maximizing reward. These properties include fairness, explainability, generalization, and robustness. In this paper, we define…