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

Tactile sensors are breaking into the field of robotics to provide direct information related to contact surfaces, including contact events, slip events and even texture identification. These events are especially important for robotic hand…

A complete smart insole solution that continuously monitors the foot plantar pressure and temperature can detect foot complications early and that too from the convenience of the user home. Widespread health complications such as Diabetic…

This paper presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots. Our approach modulates the change of angular momentum about the foot-ground contact…

We introduce the innovative technologies, based on the concept of "sensory substitution", we are developing in the fields of biomedical engineering and human disability. Precisely, our goal is to design, develop and validate practical…

The objective of this paper is to develop and evaluate a directional vibrotactile feedback interface as a guidance tool for postural adjustments during work. In contrast to the existing active and wearable systems such as exoskeletons, we…

Despite the impressive performance of vision-based pose estimators, they generally fail to perform well under adverse vision conditions and often don't satisfy the privacy demands of customers. As a result, researchers have begun to study…

This paper presents a novel method for smaller-sized humanoid robots to self-calibrate their foot force sensors. The method consists of two steps: 1. The robot is commanded to move along planned whole-body trajectories in different double…

This work aims to raise awareness among engineering students from different disciplines on the importance of feedback control. The proposal consists in comparing the performance of different control strategies in a laboratory session,…

During the preceding decades, human gait analysis has been the center of attention for the scientific community, while the association between gait analysis and overall health monitoring has been extensively reported. Technological advances…

Around 50 billion dollars is spent yearly on therapy for low back pain in the United States alone. Low back pain is one of the most common reasons for doctor visits. Having poor posture has been found to be a main cause of lower back pain…

From carrying grocery bags to holding onto handles on the bus, there are a variety of situations where one or both hands are busy, hindering the vision of ubiquitous interaction with technology. Voice commands, as a popular hands-free…

Measuring grasp stability is an important skill for dexterous robot manipulation tasks, which can be inferred from haptic information with a tactile sensor. Control policies have to detect rotational displacement and slippage from tactile…

Vision-only grasping systems are fundamentally constrained by calibration errors, sensor noise, and grasp pose prediction inaccuracies, leading to unavoidable contact uncertainty in the final stage of grasping. High-bandwidth tactile…

In this paper, we propose a method for estimating in-hand object poses using proprioception and tactile feedback from a bimanual robotic system. Our method addresses the problem of reducing pose uncertainty through a sequence of frictional…

Individuals who use myoelectric upper-limb prostheses often rely heavily on vision to complete their daily activities. They thus struggle in situations where vision is overloaded, such as multitasking, or unavailable, such as poor lighting…

We present a holistic grasping controller, combining free-space position control and in-contact force-control for reliable grasping given uncertain object pose estimates. Employing tactile fingertip sensors, undesired object displacement…

Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific…

Slow and accurate finger and limb movements are essential to daily activities, but their neural control and governing mechanics are relatively unexplored. We consider neuromechanical systems where slow movements are produced by neural…

This article describes a new way of controlling robots using soft tactile sensors: pose-based tactile servo (PBTS) control. The basic idea is to embed a tactile perception model for estimating the sensor pose within a servo control loop…

During the steady gait, humans stabilize their head around the vertical orientation. While there are sensori-cognitive explanations for this phenomenon, its mechanical e fect on the body dynamics remains un-explored. In this study, we take…