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This work describes a new human-in-the-loop (HitL) assistive grasping system for individuals with varying levels of physical capabilities. We investigated the feasibility of using four potential input devices with our assistive grasping…

Robotics has shown significant potential in assisting people with disabilities to enhance their independence and involvement in daily activities. Indeed, a societal long-term impact is expected in home-care assistance with the deployment of…

Surface Electromyography (sEMG) is a technology to measure the bio-potentials across the muscles. The true prospective of this technology is yet to be explored. In this paper, a simple and economic construction of a sEMG sensor is proposed.…

Navigation and obstacle avoidance are some of the hardest tasks for the visually impaired. Recent research projects have proposed technological solutions to tackle this problem. So far most systems fail to provide multidimensional feedback…

This paper addresses the problem of controlling a continuum manipulator (CM) in free or obstructed environments with no prior knowledge about the deformation behavior of the CM and the stiffness and geometry of the interacting obstructed…

This paper presents a robust position controller for electric power assisted steering and steer-by-wire force-feedback systems. A position controller is required in steering systems for haptic feedback control, advanced driver assistance…

This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity…

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…

Shared control in assistive robotics blends human autonomy with computer assistance, thus simplifying complex tasks for individuals with physical impairments. This study assesses an adaptive Degrees of Freedom control method specifically…

Precise handling of chemical instruments and materials within a self-driving laboratory environment using robotic systems demands advanced and reliable control strategies. Sliding Mode Control (SMC) has emerged as a robust approach for…

Creating haptic interfaces capable of rendering the rich sensation needed for dexterous manipulation is crucial for the advancement of human-in-the-loop telerobotic systems (HiLTS). One limiting factor has been the absence of detailed…

Automated driving system - dedicated vehicles (ADS-DVs), specially designed for people with various disabilities, can be beneficial to improve their mobility. However, research related to autonomous vehicles (AVs) for people with cognitive…

Autonomous vehicles (AVs) are being rapidly introduced into our lives. However, public misunderstanding and mistrust have become prominent issues hindering the acceptance of these driverless technologies. The primary objective of this study…

Brain-Computer interfaces (BCI) are widely used in reading brain signals and converting them into real-world motion. However, the signals produced from the BCI are noisy and hard to analyze. This paper looks specifically towards combining…

Mobile manipulation typically entails the base for mobility, the arm for accurate manipulation, and the camera for perception. The principle of Distant Mobility, Close Grasping(DMCG) is essential for holistic control. We propose Embodied…

Electric-powered wheelchair plays an important role in providing accessibility for people with mobility impairment. Ensuring the safety of wheelchair operation in different application scenarios and for diverse users is crucial when the…

Over the past few years, the use of camera-equipped robotic platforms for data collection and visually monitoring applications has exponentially grown. Cluttered construction sites with many objects (e.g., bricks, pipes, etc.) on the ground…

After its introduction, impedance control has been utilized as a primary control scheme for robotic manipulation tasks that involve interaction with unknown environments. While impedance control has been extensively studied, the geometric…

The advancement of vehicle automation and the growing adoption of electric vehicles (EVs) are reshaping transportation systems. While fully automated vehicles are expected to improve traffic stability, efficiency, and sustainability, recent…

We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…