相关论文: Adaptive Compliance Shaping with Human Impedance E…
We present new fitting functions for the velocity divergence auto- and cross-power spectra, $P_{\theta\theta}(k)$ and $P_{\delta\theta}(k)$, calibrated on gravity-only $N$-body simulations. By applying the Evolution Mapping framework, we…
We present PiMForce, a novel framework that enhances hand pressure estimation by leveraging 3D hand posture information to augment forearm surface electromyography (sEMG) signals. Our approach utilizes detailed spatial information from 3D…
In the present work, an embedded PI controller is designed for speed regulation of DC servomotor over a wireless network. The embedded controller integrates PI controller with a proposed time-delay estimator and an adaptive digital Smith…
The sit-to-stand movement is a key feature for wide adoption of powered lower limb orthoses for patients with complete paraplegia. In this paper we study the control of the ascending phase of the sit-to-stand movement for a minimally…
In this paper, we propose a novel graph-based data augmentation method that can generally be applied to medical waveform data with graph structures. In the process of recording medical waveform data, such as electrocardiogram (ECG) or…
The paper presents a methodology to enhance the stiffness analysis of serial and parallel manipulators with passive joints. It directly takes into account the loading influence on the manipulator configuration and, consequently, on its…
The field of cardiac electrophysiology tries to abstract, describe and finally model the electrical characteristics of a heartbeat. With recent advances in cardiac electrophysiology, models have become more powerful and descriptive as ever.…
Stable aerial manipulation during dynamic tasks such as object catching, perching, or contact with rigid surfaces necessarily requires compliant behavior, which is often achieved via impedance control. Successful manipulation depends on how…
This paper presents a stochastic model predictive controller (SMPC) for linear time-invariant systems in the presence of additive disturbances. The distribution of the disturbance is unknown and is assumed to have a bounded support. A…
Balance assessment during physical rehabilitation often relies on rubric-oriented battery tests to score a patient's physical capabilities, leading to subjectivity. While some objective balance assessments exist, they are often limited to…
Learning a locomotion controller for a musculoskeletal system is challenging due to over-actuation and high-dimensional action space. While many reinforcement learning methods attempt to address this issue, they often struggle to learn…
The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…
We introduce a unified framework for gentle robotic grasping that synergistically couples real-time friction estimation with adaptive grasp control. We propose a new particle filter-based method for real-time estimation of the friction…
Scanning transmission electron microscopy (STEM) has become a cornerstone instrument for semiconductor materials metrology, enabling nanoscale analysis of complex multilayer structures that define device performance. Developing effective…
In climate science, the tuning of climate models is a computationally intensive problem due to the combination of the high-dimensionality of the system state and long integration times. Supermodelling is a technique which has shown the…
Tech neck, a growing musculoskeletal concern caused by prolonged poor posture during device use, has significant health implications. This study investigates the relationship between head posture and muscular activity in the upper trapezius…
Robots are increasingly being deployed not only in workplaces but also in households. Effectively execute of manipulation tasks by robots relies on variable impedance control with contact forces. Furthermore, robots should possess adaptive…
Variable impedance actuators (VIAs) as tool devices for teleoperation could extend the range of tasks that humans can perform through a teleoperated robot by mimicking the change of upper limb stiffness that humans perform for different…
Adversarial training (AT) with projected gradient descent is the most popular method to improve model robustness under adversarial attacks. However, computational overheads become prohibitively large when AT is applied to large backbone…
We identify the restricted class of attainable effective deformations in a model of reinforced composites with parallel, long, and fully rigid fibers embedded in an elastic body. In mathematical terms, we characterize the weak limits of…