相关论文: Estimation of Relationship between Stimulation Cur…
A framework for performing event-driven, adaptive time step simulations of systems of rigid bodies interacting under stepped or terraced potentials in which the potential energy is only allowed to have discrete values is outlined. The…
Dynamics simulation with frictional contacts is important for a wide range of applications, from cloth simulation to object manipulation. Recent methods using smoothed lagged friction forces have enabled robust and differentiable simulation…
Electrical muscle stimulation (EMS) can support physical-assistance (e.g., shaking a spray-can before painting). However, EMS-assistance is highly-specialized because it is (1) fixed (e.g., one program for shaking spray-cans, another for…
Previous work in the area of gesture production, has made the assumption that machines can replicate "human-like" gestures by connecting a bounded set of salient points in the motion trajectory. Those inflection points were hypothesized to…
The Electromyography (EMG) signal is the electrical activity produced by cells of skeletal muscles in order to provide a movement. The non-invasive prosthetic hand works with several electrodes, placed on the stump of an amputee, that…
Electrotactile feedback is a promising method for delivering haptic sensations, but challenges such as the naturalness of sensations hinder its adoption in commercial devices. In this study, we introduce a novel device that enables the…
An original MEMS-based force sensing device is designed which allows to measure spatially resolved normal and tangential stress fields at the base of an elastomeric film. This device is used for the study of the contact stress between a…
Many physical tasks such as pulling out a drawer or wiping a table can be modeled with geometric constraints. These geometric constraints are characterized by restrictions on kinematic trajectories and reaction wrenches (forces and moments)…
It was recently proposed that the stress state of a material can also be altered via electron or hole doping, a concept termed electronic stress (ES), which is different from the traditional mechanical stress (MS) due to lattice contraction…
We apply a recently developed model of cytoskeletal force generation to study a cell intrinsic contractility, as well as its response to external loading. The model is based on a non-equilibrium thermodynamic treatment of the…
We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as…
EMG-based hand gesture recognition uses electromyographic~(EMG) signals to interpret and classify hand movements by analyzing electrical activity generated by muscle contractions. It has wide applications in prosthesis control,…
Affective computing is confronted to high inter-subject variability, in both emotional and physiological responses to a given stimulus. In a stimuli-shared framework, that is to say for different subjects who watch the same stimuli,…
Neurostimulation using weak electric fields has generated excitement in recent years due to its potential as a medical intervention. However, study of this stimulation modality has been hampered by inconsistent results and large variability…
For soft robots to work effectively in human-centered environments, they need to be able to estimate their state and external interactions based on (proprioceptive) sensors. Estimating disturbances allows a soft robot to perform desirable…
This paper presents a method for online estimation of contact properties during in-hand sliding manipulation with a parallel gripper. We estimate the static and Coulomb friction as well as the contact radius from tactile measurements of…
To enhance lifting-load estimation accuracy in industrial upper-limb assistive exoskeletons, this study proposes a machine learning-based approach using insole pressure sensors. Unlike traditional methods that rely on electromyography…
Electrostatic actuators are simple but important switching devices for MEMS applications. Due to the difficulties associated with the electrostatic nonlinearity, precise mathematical description is often hard to obtain for the dynamics of…
Two simple mathematical models of electric neuro-stimulation are derived and discussed. It is found that the common injected-charge model is less realistic than a model, in which a latency period, which follows after a short electric pulse,…
Neural population responses in sensory systems are driven by external physical stimuli. This stimulus-response relationship is typically characterized by receptive fields, which have been estimated by neural system identification…