相关论文: A Reactive Robotized Interface for Lower Limb Reha…
Legged robot locomotion on a dynamic rigid surface (i.e., a rigid surface moving in the inertial frame) involves complex full-order dynamics that is high-dimensional, nonlinear, and time-varying. Towards deriving an analytically tractable…
This paper exposes a control architecture enabling rehabilitation of walking impaired patients with the lower-limb exoskeleton Atalante. Atalante's control system is modified to allow the patient to contribute to the walking motion through…
In this paper, we present a novel control framework to achieve robust push recovery on bipedal robots while locomoting. The key contribution is the unification of hybrid system models of locomotion with a reduced-order model predictive…
Robot-assisted dressing has the potential to significantly improve the lives of individuals with mobility impairments. To ensure an effective and comfortable dressing experience, the robot must be able to handle challenging deformable…
Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues.…
Assistive and Wearable Robotics have the potential to support humans with different types of motor impairments to become independent and fulfil their activities of daily living successfully. The success of these robot systems, however,…
This work presents a novel rehabilitation framework designed for a therapist, wearing an inertial measurement unit (IMU) suit, to virtually interact with a lower-limb exoskeleton worn by a patient with motor impairments. This framework aims…
Due to hemiparesis, stroke survivors frequently develop a dysfunctional gait that is often characterized by an overall decrease in walking speed and a unilateral decrease in step length. With millions currently affected by this…
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…
Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other…
Individuals with upper limb movement limitations face challenges in interacting with others. Although robotic arms are currently used primarily for functional tasks, there is considerable potential to explore ways to enhance users' body…
Accelerometry has been extensively studied as an objective means of measuring upper limb function in patients post-stroke. The objective of this paper is to determine whether the accelerometry-derived measurements frequently used in more…
Impairment of hand functions in individuals with spinal cord injury (SCI) severely disrupts activities of daily living. Recent advances have enabled rehabilitation assisted by robotic devices to augment the residual function of the muscles.…
Humanoid robotics has strong potential to transform daily service and caregiving applications. Although recent advances in general motion tracking within physics engines (GMT) have enabled virtual characters and humanoid robots to reproduce…
This paper presents a novel, modular, cable-driven soft robotic arm featuring multi-segment reconfigurability. The proposed architecture enables a stackable system with independent segment control, allowing scalable adaptation to diverse…
Physical rehabilitation exercises suggested by healthcare professionals can help recovery from various musculoskeletal disorders and prevent re-injury. However, patients' engagement tends to decrease over time without direct supervision,…
This study investigates the application of novel model architectures and large-scale foundational models in temporal series analysis of lower limb rehabilitation motion data, aiming to leverage advancements in machine learning and…
Recent studies have explored the use of large language models (LLMs) in psychotherapy; however, text-based cognitive behavioral therapy (CBT) models often struggle with client resistance, which can weaken therapeutic alliance. To address…
Human-robot physical interaction (pHRI) is a rapidly evolving research field with significant implications for physical therapy, search and rescue, and telemedicine. However, a major challenge lies in accurately understanding human…
Workload often triggers anxiety for office workers. While a variety of stress intervention and management techniques have been explored, there exist only a few of portable tangible interfaces for anxiety reduction. Contributing to the body…