相关论文: Controlling posture using a plantar pressure-based…

A novel set-theoretical approach to hands-off control is proposed, focusing on spatial arguments for command limitation rather than temporal ones. By employing dynamical feedback alongside invariant set-based constraints, actuation is…

Humanoid robots have the potential capability to perform a diverse range of manipulation tasks, but this is based on a robust and precise standing controller. Existing methods are either ill-suited to precisely control high-dimensional…

Posture control and balance are basic requirements for a humanoid robot performing motor tasks like walking and interacting with the environment. For this reason, posture control is one of the elements taken into account when evaluating the…

For getting good sleep quality, an improved approach of new mattress development based on the pressure sensors for body-contouring uniform support is proposed in this paper. This method solved the problems of innerspring mattresses that…

We're interested in the problem of estimating object states from touch during manipulation under occlusions. In this work, we address the problem of estimating object poses from touch during planar pushing. Vision-based tactile sensors…

Uncertainty and unknown nonlinearity are often inevitable in the suspension systems, which were often solved using fuzzy logic system (FLS) or neural networks (NNs). However, these methods are restricted by the structural complexity of the…

Current humanoid push-recovery strategies often use whole-body motion, yet they tend to overlook posture regulation. For instance, in manipulation tasks, the upper body may need to stay upright and have minimal recovery displacement. This…

Humanoid robots operating in human-centered environments (e.g., homes, hospitals, and offices) must mitigate foot--ground impact transients, as impact-induced vibration and noise degrade user experience and repeated impacts accelerate…

We here present work a generalized low-level technical framework aimed to provide musical biofeedback in post-stroke balance and gait rehabilitation, built by an iterative user-centered process. The framework comprises wireless wearable…

A whole-body torque control framework adapted for balancing and walking tasks is presented in this paper. In the proposed approach, centroidal momentum terms are excluded in favor of a hierarchy of high-priority position and orientation…

Postural body sway displacements for quiet standing subjects (measured with a new ultrasonic device) are reported. Two of the well known strategies for balancing, namely ankle and hip movements were probed. The data is modeled using a…

Digitally presenting physiological signals as biofeedback to users raises awareness of both body and mind. This paper describes the effectiveness of conveying a physiological signal often overlooked for communication: breathing. We present…

This paper provides a constructive passivity-based control approach to solve the set-point regulation problem for input-affine continuous nonlinear systems while considering saturation in the inputs. As customarily in passivity-based…

In the last decade, researchers have increasingly explored using biosensing technologies for music-based affective regulation and stress management interventions in laboratory and real-world settings. These systems -- including interactive…

The musculoskeletal humanoid is difficult to modelize due to the flexibility and redundancy of its body, whose state can change over time, and so balance control of its legs is challenging. There are some cases where ordinary PID controls…

Active muscles are crucial for maintaining postural stability when seated in a moving vehicle. Advanced active 3D non-linear full body models have been developed for impact and comfort simulation, including large numbers of individual…

Gait rehabilitation interventions targeting paretic propulsion can improve walking speed and function in individuals post-stroke. Previous work has demonstrated that real-time biofeedback targeting anterior ground reaction forces (AGRFs)…

Contact pressure between the human body and its surroundings has important implications. For example, it plays a role in comfort, safety, posture, and health. We present a method that infers contact pressure between a human body and a…

Locomotion of legged machines faces the problems of model complexity and computational costs. Algorithms based on complex models and/or reinforcement learning exist to solve the walking control task. In this project, we aim to develop a…

Current co-speech motion generation approaches usually focus on upper body gestures following speech contents only, while lacking supporting the elaborate control of synergistic full-body motion based on text prompts, such as talking while…