相关论文: Adaptive Compliance Shaping with Human Impedance E…
Obesity is a chronic disease that can lead to an increased risk of other serious chronic diseases and even death. We present switching and time-delayed feedback-based model free control methods for the dynamic management of body mass and…
The present study investigated the effect of a passive lower-limb exoskeleton on lumbar load and verified the effectiveness of biomechanical analysis for evaluating the physical burden while wearing the exoskeleton. Twelve healthy male…
Human-like motion is a primary goal for many robotic assistive devices. Emulating the strategy of the human neuromuscular system may aid the control of such powered devices, yet many challenges remain. In this study, we investigated the…
Incremental stiffness characterizes the variation of a material's force response to a small deformation change. Typically materials have an incremental stiffness that is fixed and positive, but recent technologies, such as super-lenses, low…
With their unique combination of characteristics - an energy density almost 100 times that of human muscle, and a power density of 5.3 kW/kg, similar to a jet engine's output - Nylon artificial muscles stand out as particularly apt for…
A novel method of exponentially stable adaptive control to compensate for matched parametric uncertainty under a mild condition of semi-persistent excitation (s-PE) of a regressor with piecewise-constant rank and nullspace is proposed. It…
Adaptive control is a critical component of reliable robot autonomy in rapidly changing operational conditions. Adaptive control designs benefit from a disturbance model, which is often unavailable in practice. This motivates the use of…
In contrast to most scientific disciplines, sports science research has been characterized by comparatively little effort investment in the development of relevant phenomenological models. Scarcer yet is the application of said models in…
Conformance checking techniques aim to collate observed process behavior with normative/modeled process models. The majority of existing approaches focuses on completed process executions, i.e., offline conformance checking. Recently, novel…
The impressive capabilities of humans to robustly perform manipulation relies on compliant interactions, enabled through the structure and materials spatially distributed in our hands. We propose by mimicking this distributed compliance in…
The time-domain technique for impedance spectroscopy consists of computing the excitation voltage and current response Fourier images by fast or discrete Fourier transformation and calculating their relation. Here we propose an alternative…
Assessing human muscle fatigue is critical for optimizing performance and safety in physical human-robot interaction(pHRI). This work presents a data-driven framework to estimate fatigue in dynamic, cyclic pHRI using arm-mounted surface…
Optimization in engineering requires appropriate models. In this article, a regression method for enhancing the predictive power of a model by exploiting expert knowledge in the form of shape constraints, or more specifically, monotonicity…
Slip is a very common phenomena present in wheeled mobile robotic systems. It has undesirable consequences such as wasting energy and impeding system stability. To tackle the challenge of mobile robot trajectory tracking under slippery…
Quantifying robustness in a single measure for the purposes of model selection, development of adversarial training methods, and anticipating trends has so far been elusive. The simplest metric to consider is the number of trainable…
Flexible tactile sensors are increasingly used in real-world applications such as robotic grippers, prosthetic hands, wearable gloves, and assistive devices, where they need to conform to curved and irregular surfaces. However, most…
Robotic devices hold great potential for efficient and reliable assessment of neuromotor abnormalities in post-stroke patients. However, spasticity caused by stroke is still assessed manually in clinical settings. The limited and variable…
Effective rehabilitation methods are essential for the recovery of lower limb dysfunction caused by stroke. Nowadays, robotic exoskeletons have shown great potentials in rehabilitation. Nevertheless, traditional rigid exoskeletons are…
A small but growing body of work has shown that machine learning models which better align with human vision have also exhibited higher robustness to adversarial examples, raising the question: can human-like perception make models more…
There is an increased demand for task automation in robots. Contact-rich tasks, wherein multiple contact transitions occur in a series of operations, are extensively being studied to realize high accuracy. In this study, we propose a…