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The study shows a potential to monitor functional recovery of a muscle by its natural frequency measurement. A novel approach is presented, in which vibrations of the muscle of interest are measured in a contactless manner using laser…
Human-robot physical interaction contains crucial information for optimizing user experience, enhancing robot performance, and objectively assessing user adaptation. This study introduces a new method to evaluate human-robot co-adaptation…
As robotics progresses toward general manipulation, dexterous hands are becoming increasingly critical. However, proprioception in dexterous hands remains a bottleneck due to limitations in volume and generality. In this work, we present…
Brain-Machine Interaction (BMI) system motivates interesting and promising results in forward/feedback control consistent with human intention. It holds great promise for advancements in patient care and applications to neurorehabilitation.…
Joint estimation of grasped object pose and extrinsic contacts is central to robust and dexterous manipulation. In this paper, we propose a novel state-estimation algorithm that jointly estimates contact location and object pose in 3D using…
This article presents a study on different informative modalities of a perceptual supplementation device aiming at reducing overpressure at the buttock area. Visual, audio and tactile modalities are analysed and compared with a…
Proprioception is the "sixth sense" that detects limb postures with motor neurons. It requires a natural integration between the musculoskeletal systems and sensory receptors, which is challenging among modern robots that aim for…
Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…
To enable the broad adoption of wearable robotic exoskeletons in medical and industrial settings, it is crucial they can adaptively support large repertoires of movements. We propose a new human-machine interface to simultaneously drive…
This survey paper concerns Sensor Fusion for Predictive Control of Human-Prosthesis-Environment Dynamics in Assistive Walking. The powered lower limb prosthesis can imitate the human limb motion and help amputees to recover the walking…
This work developed a learning framework for perceptive legged locomotion that combines visual feedback, proprioceptive information, and active gait regulation of foot-ground contacts. The perception requires only one forward-facing camera…
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…
Prolonged seated activity is increasingly common in modern environments, raising concerns around musculoskeletal health, ergonomics, and the design of responsive interactive systems. Existing posture sensing methods such as vision-based or…
Robot-assisted feeding can greatly enhance the lives of those with mobility limitations. Modern feeding systems can pick up and position food in front of a care recipient's mouth for a bite. However, many with severe mobility constraints…
Misdiagnosis can result in delayed treatment and patient harm. Robotic patient simulators (robopatients) provide a controlled framework for training and evaluating clinicians in rare and complex cases. We investigate auditory tactile…
The estimation of external joint torque and contact wrench is essential for achieving stable locomotion of humanoids and safety-oriented robots. Although the contact wrench on the foot of humanoids can be measured using a force-torque…
Most realtime human pose estimation approaches are based on detecting joint positions. Using the detected joint positions, the yaw and pitch of the limbs can be computed. However, the roll along the limb, which is critical for application…
Wheelchairs and mobility devices have transformed our bodies into cybernic systems, enhancing our well-being by enabling individuals with reduced mobility to regain freedom. Notwithstanding, current interfaces of control primarily rely on…
Despite decades of study, many unknowns exist about the mechanisms governing human locomotion. Current models and motor control theories can only partially capture the phenomenon. This may be a major cause of the reduced efficacy of lower…
Perception using whisker-inspired tactile sensors currently faces a major challenge: the lack of active control in robots based on direct contact information from the whisker. To accurately reconstruct object contours, it is crucial for the…