相关论文: Adaptive driver-automation shared steering control…
Automobiles for our roadways are increasingly using advanced driver assistance systems. The adoption of such new technologies requires us to develop novel perception systems not only for accurately understanding the situational context of…
Designing effective rehabilitation strategies for upper extremities, particularly hands and fingers, warrants the need for a computational model of human motor learning. The presence of large degrees of freedom (DoFs) available in these…
This paper presents a novel approach to modeling human driving behavior, designed for use in evaluating autonomous vehicle control systems in a simulation environments. Our methodology leverages a hierarchical forward-looking, risk-aware…
Gesture recognition based on surface electromyography (sEMG) has been gaining importance in many 3D Interactive Scenes. However, sEMG is easily influenced by various forms of noise in real-world environments, leading to challenges in…
Myoelectric control is one of the leading areas of research in the field of robotic prosthetics. We present our research in surface electromyography (sEMG) signal classification, where our simple and novel attention-based approach now leads…
A conceptual and computational framework is proposed for modelling of human sensorimotor control, and is exemplified for the sensorimotor task of steering a car. The framework emphasises control intermittency, and extends on existing models…
The Intelligent Driver Model (IDM) is a cornerstone of Adaptive Cruise Control (ACC), valued for its interpretable parameters and effectiveness in car-following behavior modeling. However, its inherent conservatism leads to prolonged…
In order to increase the number of situations in which an intelligent vehicle can operate without human intervention, lateral control is required to accurately guide it in a reference trajectory regardless of the shape of the road or the…
Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly…
This paper presents a Mixed-Initiative (MI) framework for addressing the problem of control authority transfer between a remote human operator and an AI agent when cooperatively controlling a mobile robot. Our Hierarchical Expert-guided…
Sonomyography (SMG) is a non-invasive technique that uses ultrasound imaging to detect the dynamic activity of muscles. Wearable SMG systems have recently gained popularity due to their potential as human-computer interfaces for their…
We propose, implement and evaluate a natural human-machine control interface for a variable stiffness transradial hand prosthesis that achieves tele-impedance control through surface electromyography (sEMG) signals. This interface, together…
Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstation-like counterparts. However, the field is generally lacking effective methods by which the user can operate the device: such…
We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level…
Artificially intelligent perception is increasingly present in the lives of every one of us. Vehicles are no exception, (...) In the near future, pattern recognition will have an even stronger role in vehicles, as self-driving cars will…
Controlling robotic manipulators with high-dimensional action spaces for dexterous tasks is a challenging problem. Inspired by human manipulation, researchers have studied generating and using postural synergies for robot hands to…
With the ongoing efforts to empower people with mobility impairments and the increase in technological acceptance by the general public, assistive technologies, such as collaborative robotic arms, are gaining popularity. Yet, their…
It is essential to help drivers have appropriate understandings of level 2 automated driving systems for keeping driving safety. A human machine interface (HMI) was proposed to present real time results of image recognition by the automated…
This article addresses the problem of controlling the speed of a number of automated vehicles before they enter a speed reduction zone on a freeway. We formulate the control problem and provide an analytical, closed-form solution that can…
The safety-critical nature of vehicle steering is one of the main motivations for exploring the space of possible cyber-physical attacks against the steering systems of modern vehicles. This paper investigates the adversarial capabilities…