相关论文: Upper-limb Geometric MyoPassivity Map for Physical…
Recent progress in human-robot collaboration makes fast and fluid interactions possible, even when human observations are partial and occluded. Methods like Interaction Probabilistic Movement Primitives (ProMP) model human trajectories…
Upper limb movement classification, which maps input signals to the target activities, is a key building block in the control of rehabilitative robotics. Classifiers are trained for the rehabilitative system to comprehend the desires of the…
This paper presents an admittance controller based on the passivity theory for a powered upper-limb exoskeleton robot which is governed by the nonlinear equation of motion. Passivity allows us to include a human operator and environmental…
Upper limb based neuromuscular interfaces aim to provide a seamless way for humans to interact with technology. Among noninvasive interfaces, surface electromyogram (EMG) signals hold significant promise. However, their sensitivity to…
Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-friction environments it provides that the entire interaction is…
Within the concept of physical human-robot interaction (pHRI), the most important criterion is the safety of the human operator interacting with a high degree of freedom (DoF) robot. Therefore, a robust control scheme is in high demand to…
Understanding the relationship between nerve anatomy and the functional outcomes of electrical stimulation is critical for optimizing neural interface design. In this study, we conducted acute experiments on four pigs in which epineural…
Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…
Work environments are often inadequate and lack inclusivity for individuals with upper-body disabilities. This paper presents a novel online framework for adaptive human-robot interaction (HRI) that accommodates users' arm mobility…
The passive body-area electrostatic field has recently been aspiringly explored for wearable motion sensing, harnessing its two thrilling characteristics: full-body motion sensitivity and environmental sensitivity, which potentially…
Passive reaction effects in grasp stability analysis occur when the contact forces and joint torques applied by a grasp change in response to external disturbances applied to the grasped object. For example, nonbackdrivable actuators (e.g.…
Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…
Electromyography (EMG) data has been extensively adopted as an intuitive interface for instructing human-robot collaboration. A major challenge of the real-time detection of human grasp intent is the identification of dynamic EMG from hand…
Electromyography (EMG) signals are obtained from muscle cell activity. The recording and analysis of EMG signals has several applications. The EMG is of diagnostic importance for treating patients suffering from neurological and…
Two distinct technologies have gained attention lately due to their prospects for motor rehabilitation: robotics and brain-machine interfaces (BMIs). Harnessing their combined efforts is a largely uncharted and promising direction that has…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
Accurate human pose estimation is essential for effective Human-Robot Interaction (HRI). By observing a user's arm movements, robots can respond appropriately, whether it's providing assistance or avoiding collisions. While visual…
A typical application of upper-limb exoskeleton robots is deployment in rehabilitation training, helping patients to regain manipulative abilities. However, as the patient is not always capable of following the robot, safety issues may…
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…
Although we can measure muscle activity and analyze their activation patterns, we understand little about how individual muscles affect the joint torque generated. It is known that they are controlled by circuits in the spinal cord, a…