相关论文: Intuitive Neuromyoelectric Control of a Dexterous …

Deep Learners (DLs) are the state-of-art predictive mechanism with applications in many fields requiring complex high dimensional data processing. Although conventional DLs get trained via gradient descent with back-propagation, Kalman…

The electromyography (EMG) signal is the electrical manifestation of a neuromuscular activation that provides access to physiological processes which cause the muscle to generate force and produce movement. Non invasive prostheses use such…

In myoelectric control, simultaneous control of multiple degrees of freedom can be challenging due to the dexterity of the human hand. Numerous studies have focused on hand functionality, however, they only focused on a few degrees of…

The Kalman filter (KF) is used in a variety of applications for computing the posterior distribution of latent states in a state space model. The model requires a linear relationship between states and observations. Extensions to the Kalman…

Dexterity is often seen as a cornerstone of complex manipulation. Humans are able to perform a host of skills with their hands, from making food to operating tools. In this paper, we investigate these challenges, especially in the case of…

In this paper we address the simultaneous collision detection and force estimation problem for quadrupedal locomotion using joint encoder information and the robot dynamics only. We design an interacting multiple-model Kalman filter…

We study adaptive (or online) nonlinear regression with Long-Short-Term-Memory (LSTM) based networks, i.e., LSTM-based adaptive learning. In this context, we introduce an efficient Extended Kalman filter (EKF) based second-order training…

Accurate estimation of the dynamic states of a synchronous machine (e.g., rotor s angle and speed) is essential in monitoring and controlling transient stability of a power system. It is well known that the covariance matrixes of process…

Human dexterity arises from combining high-level task reasoning with finger-level dexterity control and physical compliance at the muscle and skin layers. In robotics, large Vision-Language-Action (VLA) models demonstrate text-conditioned…

Extended Kalman Filter (EKF) has been a popular approach to localization a mobile robot. However, the performance of the EKF and the quality of the estimation depends on the correct a priori knowledge of process and measurement noise…

Many applications involve humans in the loop, where continuous and accurate human motion monitoring provides valuable information for safe and intuitive human-machine interaction. Portable devices such as inertial measurement units (IMUs)…

We make modifications to the unscented Kalman filter (UKF) which bestow almost complete practical identifiability upon a lumped-parameter cardiovascular model with 10 parameters and 4 output observables - a highly non-linear, stiff problem…

Automation of alignment tasks can provide improved efficiency and greatly increase the flexibility of an optical system. Current optical systems with automated alignment capabilities are typically designed to include a dedicated wavefront…

Adaptation to external and internal changes is major for robotic systems in uncertain environments. Here we present a novel multisensory active inference torque controller for industrial arms that shows how prediction can be used to resolve…

Pathological Hand Tremor (PHT) is among common symptoms of several neurological movement disorders, which can significantly degrade quality of life of affected individuals. Beside pharmaceutical and surgical therapies, mechatronic…

Applications of free-flying robots range from entertainment purposes to aerospace applications. The control algorithm for such systems requires accurate estimation of their states based on sensor feedback. The objective of this paper is to…

The extended Kalman filter (EKF) is a widely adopted method for sensor fusion in navigation applications. A crucial aspect of the EKF is the online determination of the process noise covariance matrix reflecting the model uncertainty. While…

Inertial motion capture systems widely use low-cost IMUs to obtain the orientation of human body segments, but these sensors alone are unable to estimate link positions. Therefore, this research used a SLAM method in conjunction with…

This study introduces an innovative design for a Variable Stiffness 3 Degrees of Freedom actuated wrist capable of actively and continuously adjusting its overall stiffness by modulating the active length of non-linear elastic elements.…

Accurate structural response prediction forms a main driver for structural health monitoring and control applications. This often requires the proposed model to adequately capture the underlying dynamics of complex structural systems. In…