相关论文: Upper-limb Geometric MyoPassivity Map for Physical…

Wearable electronic equipment is constantly evolving and is increasing the integration of humans with technology. Available in various forms, these flexible and bendable devices sense and can measure the physiological and muscular changes…

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…

State-of-the-art robotic hand prosthetics generate finger and wrist movement through pattern recognition (PR) algorithms using features of forearm electromyogram (EMG) signals, but re- quires extensive training and is prone to poor…

Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…

In this research, we present an innovative method known as a physics-informed neural network (PINN) model to predict multi-joint kinematics using electromyography (EMG) signals recorded from the muscles surrounding these joints across…

To date, research on sensor-equipped mobile devices has primarily focused on the purely supervised task of human activity recognition (walking, running, etc), demonstrating limited success in inferring high-level health outcomes from…

The electromyography (EMG) signal is the electrical manifestation of a neuromuscular activation that provides access to physiological processes which cause the muscle to generate force and produce movement. Non invasive prostheses use such…

Humans and other animals coactivate agonist and antagonist muscles in many motor actions. Increases in muscle coactivation are thought to leverage viscoelastic properties of skeletal muscles to provide resistance against limb motion.…

Age-related mobility decline is frequently accompanied by a redistribution of joint kinetics, where older adults compensate for reduced ankle function by increasing demand on the hip. Paradoxically, this compensatory shift typically…

Human joint dynamic stiffness plays an important role in the stability of performance augmentation exoskeletons. In this paper, we consider a new frequency domain model of the human joint dynamics which features a complex value stiffness.…

The relationship between physiological systems and modern electromechanical technologies is fast becoming intimate with high degrees of complex interaction. It can be argued that muscular function, limb movements, and touch perception serve…

Providing artificial agents with the same computational models of biological systems is a way to understand how intelligent behaviours may emerge. We present an active inference body perception and action model working for the first time in…

Decoding multiple movements from the same limb using electroencephalographic (EEG) activity is a key challenge with applications for controlling prostheses in upper-limb amputees. This study investigates the classification of four hand…

Humanoid motion control has witnessed significant breakthroughs in recent years, with deep reinforcement learning (RL) emerging as a primary catalyst for achieving complex, human-like behaviors. However, the high dimensionality and…

There is an increasing consensus among re- searchers that making a computer emotionally intelligent with the ability to decode human affective states would allow a more meaningful and natural way of human-computer interactions (HCIs). One…

Human motion prediction aims to forecast future poses given a sequence of past 3D skeletons. While this problem has recently received increasing attention, it has mostly been tackled for single humans in isolation. In this paper, we explore…

Haptic feedback can improve safety of teleoperated robots when situational awareness is limited or operators are inattentive. Standard potential field approaches increase haptic resistance as an obstacle is approached, which is desirable…

Wearable sensor systems with transmitting capabilities are currently employed for the biometric screening of exercise activities and other performance data. Such technology is generally wireless and enables the noninvasive monitoring of…

Human-in-the-loop approaches are of great importance for robot applications. In the presented study, we implemented a multimodal human-robot interaction (HRI) scenario, in which a simulated robot communicates with its human partner through…

The six-degree-of-freedom (6-DOF) robotic arm has gained widespread application in human-coexisting environments. While previous research has predominantly focused on functional motion generation, the critical aspect of expressive motion in…