相关论文: A Reactive Robotized Interface for Lower Limb Reha…
In this study, seated walk, a movement of walking while sitting on a chair with casters, is realized on a musculoskeletal humanoid from human teaching. The body is balanced by using buttock-contact sensors implemented on the planar…
Robotic rehabilitation can deliver high-dose gait therapy and improve motor function after a stroke. However, for many devices, high costs and lengthy setup times limit clinical adoption. Thus, we designed, built, and evaluated the Passive…
Introduction: Socially assistive robots hold promise for enhancing therapeutic engagement in paediatric clinical settings. However, their successful implementation requires not only technical robustness but also context-sensitive,…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
We present a robot base placement and control method that enables a mobile manipulator to gracefully recover from manipulation failures while performing tasks on-the-move. A mobile manipulator in motion has a limited window to complete a…
Rehabilitation therapies are widely employed to assist people with motor impairments in regaining control over their affected body parts. Nevertheless, factors such as fatigue and low self-efficacy can hinder patient compliance during…
Robots assist in many areas that are considered unsafe for humans to operate. For instance, in handling pandemic diseases such as the recent Covid-19 outbreak and other outbreaks like Ebola, robots can assist in reaching areas dangerous for…
A sensor-fused wearable assistance prototype for upper-limb function (triceps brachii and extensor pollicis brevis) is presented. The device integrates surface electromyography (sEMG), an inertial measurement unit (IMU), and flex/force…
This paper proposes a neural network-based user simulator that can provide a multimodal interactive environment for training Reinforcement Learning (RL) agents in collaborative tasks involving multiple modes of communication. The simulator…
In the field of Geriatronics, enabling effective and transparent communication between humans and robots is crucial for enhancing the acceptance and performance of assistive robots. Our early-stage research project investigates the…
Advanced neural interfaces are transforming applications ranging from neuroscience research to diagnostic tools (for mental state recognition, tremor and seizure detection) as well as prosthetic devices (for motor and communication…
Patient transfer is a challenging, critical task because it exposes caregivers to injury risks. Available transfer devices, like floor lifts, lead to improvements but are far from perfect. They do not eliminate the caregivers risk of…
Robot assistants for older adults and people with disabilities need to interact with their users in collaborative tasks. The core component of these systems is an interaction manager whose job is to observe and assess the task, and infer…
For safe and effective operation of humanoid robots in human-populated environments, the problem of commanding a large number of Degrees of Freedom (DoF) while simultaneously considering dynamic obstacles and human proximity has still not…
Brain computer interface (BCI) provides promising applications in neuroprosthesis and neurorehabilitation by controlling computers and robotic devices based on the patient's intentions. Here, we have developed a novel BCI platform that…
In this work, we present a multimodal system for active robot-object interaction using laser-based SLAM, RGBD images, and contact sensors. In the object manipulation task, the robot adjusts its initial pose with respect to obstacles and…
Robotic sensorimotor extensions (supernumerary limbs, prosthesis, handheld tools) are worn devices used to interact with the nearby environment, whether to assist the capabilities of impaired users or to enhance the dexterity of industrial…
Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…
Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…