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Quantitative estimation of human joint motion in daily living spaces is essential for early detection and rehabilitation tracking of neuromusculoskeletal disorders (e.g., Parkinson's) and mitigating trip and fall risks for older adults.…
Over the last twenty years, smartphones gradually replaced many earlier digital tools such as PDAs, cameras and music players. Today these objects are regarded as obsolete: they may hold some esthetic or nostalgic appeal but they do not fit…
The integration of technology into exercise regimens has emerged as a strategy to enhance normal human capabilities and return human motor function after injury or illness by enhancing motor learning and retention. Much research has focused…
The aim of the present study involves designing a humanoid robot guide as a walking trainer for elderly and rehabilitation patients. The system is based on the humanoid robot Pepper with a compliance approach that allows to match the motion…
Bimanual object manipulation involves multiple visuo-haptic sensory feedbacks arising from the interaction with the environment that are managed from the central nervous system and consequently translated in motor commands. Kinematic…
As humans, we have a remarkable capacity for reading the characteristics of objects only by observing how another person carries them. Indeed, how we perform our actions naturally embeds information on the item features. Collaborative…
Humans subconsciously choose robust ways of selecting and using tools, for example, choosing a ladle over a flat spatula to serve meatballs. However, robustness under external disturbances remains underexplored in robotic tool-use planning.…
Parkinson's disease (PD) is a progressive neurodegenerative movement disorder where motor dysfunction gradually increases as the disease progress. In addition to administering dopaminergic PD-specific drugs, attending neurologists strongly…
In this article, an enactive architecture is described that allows a humanoid robot to learn to compose simple actions into turn-taking behaviors while playing interaction games with a human partner. The robot's action choices are…
Physical agents that can autonomously generate engaging, life-like behaviour will lead to more responsive and interesting robots and other autonomous systems. Although many advances have been made for one-to-one interactions in well…
Coimagination method is a novel approach to support interactive communication for activating three (3) cognitive functions: episodic memory, division of attention, and planning. These cognitive functions are known to decline at an early…
The research of a socially assistive robot has a potential to augment and assist physical therapy sessions for patients with neurological and musculoskeletal problems (e.g. stroke). During a physical therapy session, generating personalized…
Mindfulness, a practice of bringing attention to the present non-judgmentally, has many mental and physical well-being benefits, especially when practiced consistently. Many technologies have been invented to support solo or group…
Recommendation systems play an important role in today's digital world. They have found applications in various applications such as music platforms, e.g., Spotify, and movie streaming services, e.g., Netflix. Less research effort has been…
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…
Continual learning is a fundamental challenge in artificial intelligence that requires networks to acquire new knowledge while preserving previously learned representations. Despite the success of various approaches, most existing paradigms…
In physical human-robot interaction, force feedback has been the most common sensing modality to convey the human intention to the robot. It is widely used in admittance control to allow the human to direct the robot. However, it cannot be…
While assistive robots have much potential to help older people with frailty-related needs, there are few in use. There is a gap between what is developed in laboratories and what would be viable in real-world contexts. Through a series of…
Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…
Maintaining an upright stance represents a complex task, which is achieved by integrating sensory information from the visual, vestibular and somatosensory systems. When one of these sensory inputs becomes unavailable and/or inaccurate…