相关论文: Design and Implementation of Prosthetic Arm using …
Electromyography (EMG) has been explored as an HCI input modality following a long history of success for prosthesis control. While EMG has the potential to address a range of hands-free interaction needs, it has yet to be widely accepted…
This paper presents the application of a learning control approach for the realization of a fast and reliable pick-and-place application with a spherical soft robotic arm. The arm is characterized by a lightweight design and exhibits…
Most current hand exoskeletons have been designed specifically for rehabilitation, assistive or haptic applications to simplify the design requirements. Clinical studies on post-stroke rehabilitation have shown that adapting assistive or…
Gestures are an integral part of our daily interactions with the environment. Hand gesture recognition (HGR) is the process of interpreting human intent through various input modalities, such as visual data (images and videos) and…
Our research investigates vibrotactile perception in four prosthetic hands with distinct kinematics and mechanical characteristics. We found that rigid and simple socket-based prosthetic devices can transmit tactile information and…
Intuitively, prostheses with user-controllable stiffness could mimic the intrinsic behavior of the human musculoskeletal system, promoting safe and natural interactions and task adaptability in real-world scenarios. However, prosthetic…
Robotic assistance in minimally invasive surgery can greatly enhance surgical precision and reduce surgeon fatigue. This paper presents a focused investigation on the kinematic and ergonomic design principles for a laparoscopic surgical…
Soft robots have become increasingly popular for complex manipulation tasks requiring gentle and safe contact. However, their softness makes accurate control challenging, and high-fidelity sensing is a prerequisite to adequate control…
In this paper, we demonstrate a proof-of-concept implementation of a framework for the development of edge-connected prosthetic systems. The framework is composed of a bionic hand equipped with a camera and connected to a Jetson device that…
Surface electromyography provides a practical way to infer human movement intention from wearable muscle recordings, but models trained under a single acquisition setting often lose reliability when the user, session, electrode layout, or…
This paper presents a numerical method to conceive and design the kinematic model of an anthropomorphic robotic hand used for gesturing and grasping. In literature, there are few numerical methods for the finger placement of human-inspired…
Without finger function, people with C5-7 spinal cord injury (SCI) regularly utilize wrist extension to passively close the fingers and thumb together for grasping. Wearable assistive grasping devices often focus on this familiar…
Control barrier functions have been demonstrated to be a useful method of ensuring constraint satisfaction for a wide class of controllers, however existing results are mostly restricted to continuous time systems of relative degree one.…
Beyond providing accurate movements, achieving smooth motion trajectories is a long-standing goal of robotics control theory for arms aiming to replicate natural human movements. Drawing inspiration from biological agents, whose reaching…
Configurable robots are made up of robotic modules that can be assembled or can configure themselves into multiple robot configurations. In this research plan, a method for upper-body rehabilitation will be discussed in the form of a…
During the conceptual and prototype design stage of an industrial product, it is crucial to take assembly/disassembly and maintenance operations in advance. A well-designed system should enable relatively easy access of operating…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…
Parallel robots based on Handed Shearing Auxetics (HSAs) can implement complex motions using standard electric motors while maintaining the complete softness of the structure, thanks to specifically designed architected metamaterials.…
One of the main causes of long-term prosthetic abandonment is the lack of ownership over the prosthesis, caused mainly by the absence of sensory information regarding the lost limb. One strategy to overcome this problem is to provide…
Surface electromyography (sEMG) is a popular bio-signal used for controlling prostheses and finger gesture recognition mechanisms. Myoelectric prostheses are costly, and most commercially available sEMG acquisition systems are not suitable…