相关论文: Finite Dimensional Approximation to Muscular Respo…
Parametric representations of various functions are fundamental tools in science and engineering. This paper introduces a fixed-initial-state constant-input dynamical system (FISCIDS) representation, which provides an exact and parametric…
In this paper, we present a simulation and control framework for generating biomechanically plausible motion for muscle-actuated characters. We incorporate a fatigue dynamics model, the 3CC-r model, into the widely-adopted Hill-type muscle…
Targeted electrical stimulation of the brain perturbs neural networks and modulates their rhythmic activity both at the site of stimulation and at remote brain regions. Understanding, or even predicting, this neuromodulatory effect is…
Neuromuscular electrical stimulation (NMES) has been effectively applied in many rehabilitation treatments of individuals with spinal cord injury (SCI). In this context, we introduce a novel, robust, and intelligent control-based…
Loss of voluntary foot movement after spinal cord injury (SCI) can significantly limit independent mobility and quality of life. To improve motor output after injury, functional electrical stimulation (FES) is used to deliver stimulation…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
To diagnose, plan, and treat musculoskeletal pathologies, understanding and reproducing muscle recruitment for complex movements is essential. With muscle activations for movements often being highly redundant, nonlinear, and time…
This paper presents a new technique for the design of approximate reasoning based controllers for dynamic physical systems with interacting goals. In this approach, goals are achieved based on a hierarchy defined by a control knowledge base…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
Electrical muscle stimulation (EMS) can support physical-assistance (e.g., shaking a spray-can before painting). However, EMS-assistance is highly-specialized because it is (1) fixed (e.g., one program for shaking spray-cans, another for…
Human impedance parameters play an integral role in the dynamics of strength amplification exoskeletons. Many methods are used to estimate the stiffness of human muscles, but few are used to improve the performance of strength amplification…
Developing accurate hand gesture perception models is critical for various robotic applications, enabling effective communication between humans and machines and directly impacting neurorobotics and interactive robots. Recently, surface…
Neuro-dynamic programming is a class of powerful techniques for approximating the solution to dynamic programming equations. In their most computationally attractive formulations, these techniques provide the approximate solution only…
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…
Muscle force and joint kinematics estimation from surface electromyography (sEMG) are essential for real-time biomechanical analysis of the dynamic interplay among neural muscle stimulation, muscle dynamics, and kinetics. Recent advances in…
Human locomotion emerges from high-dimensional neuromuscular control, making predictive musculoskeletal simulation challenging. We present a physiology-informed reinforcement-learning framework that constrains control using muscle…
Neural control is an exciting mystery which we instinctively master. Yet, researchers have a hard time explaining the motor control trajectories. Physiologically accurate biomechanical simulations can, to some extent, mimic live subjects…
Finite Element Modeling (FEM) has been widely used to model the electric field distribution, to study the interaction between stimulation electrodes and neural tissue. However, due to the insufficient computational capability to represent…
We apply a recently developed model of cytoskeletal force generation to study a cell intrinsic contractility, as well as its response to external loading. The model is based on a non-equilibrium thermodynamic treatment of the…