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

In this paper, we further develop a recently proposed control method to switch a bistable system between its steady states using temporal pulses. The motivation for using pulses comes from biomedical and biological applications (e.g.…

We consider a general class of translation-invariant systems with a specific category of output nonlinearities motivated by biological sensing. We show that no dynamic output feedback can stabilize this class of systems to an isolated…

This paper proposes a controller for stable grasping of unknown-shaped objects by two robotic fingers with tactile fingertips. The grasp is stabilised by rolling the fingertips on the contact surface and applying a desired grasping force to…

Despite extensive studies on motion stabilization of bipeds, they still suffer from the lack of disturbance coping capability on slippery surfaces. In this paper, a novel controller for stabilizing a bipedal motion in its sagittal plane is…

Wearable haptic interventions offer promising support for relaxation through slow, vibrotactile biofeedback. Despite their potential, current applications focus on stress-inducing procedures and fixed vibration patterns, with limited…

In this paper we study how to shape temporal pulses to switch a bistable system between its stable steady states. Our motivation for pulse-based control comes from applications in synthetic biology, where it is generally difficult to…

Balancing oneself using the spine is a physiological alignment of the body posture in the most efficient manner by the muscular forces for mammals. For this reason, we can see many disabled quadruped animals can still stand or walk even…

One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robots is the capability to properly balance on their feet,…

Humans naturally grasp objects with minimal level required force for stability, whereas robots often rely on rigid, over-squeezing control. To narrow this gap, we propose a human-inspired physics-conditioned tactile method (Phy-Tac) for…

This paper presents a model-based balance stabilization system which takes into account not only the stable part of COM dynamics but also the unstable part. In this system, the overall dynamics of a humanoid robot is approximated using a…

Virtual Reality (VR) users often experience postural instability, i.e., balance problems, which could be a major barrier to universal usability and accessibility for all, especially for persons with balance impairments. Prior research has…

Poor sitting habits have been identified as a risk factor to musculoskeletal disorders and lower back pain especially on the elderly, disabled people, and office workers. In the current computerized world, even while involved in leisure or…

The design of functional seating furniture is a complicated process which often requires extensive manual design effort and empirical evaluation. We propose a computational design framework for pose-driven automated generation of…

In this paper, we present an implementation of a leaning-based control of a differential drive telepresence robot and a user study in simulation, with the goal of bringing the same functionality to a real telepresence robot. The…

We developed a new aerial push-button with tactile feedback using focused airborne ultrasound. This study has two significant novelties compared to past related studies: 1) ultrasound emitters are equipped behind the user's finger and…

Kinematic measurements of two simultaneous coordinates from postural sway during quiet standing were performed employing multiple ultrasonic transducers. The use of accurate acoustic devices was required for the detection of the small…

This paper studies stabilizer design for position-controlled humanoid robots. Stabilizers are an essential part for position-controlled humanoids, whose primary objective is to adjust the control input sent to the robot to assist the…

Relaxation is a critical counterbalance to the demands of modern business life. Footbaths, a simple yet highly effective therapeutic practice, have been used for centuries across various cultures to promote relaxation and overall…

Balance assessment during physical rehabilitation often relies on rubric-oriented battery tests to score a patient's physical capabilities, leading to subjectivity. While some objective balance assessments exist, they are often limited to…

Human walking efficiency relies on the elastic recoil of the Achilles tendon, facilitated by a "catapult mechanism" that stores energy during stance and releases it during push-off. The catapult release mechanism could include the passive…