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

Current mobile user authentication systems based on PIN codes, fingerprint, and face recognition have several shortcomings. Such limitations have been addressed in the literature by exploring the feasibility of passive authentication on…

A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…

Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…

Physical interaction between humans and robots can help robots learn to perform complex tasks. The robot arm gains information by observing how the human kinesthetically guides it throughout the task. While prior works focus on how the…

Safe human-robot interactions require robots to be able to learn how to behave appropriately in \sout{humans' world} \rev{spaces populated by people} and thus to cope with the challenges posed by our dynamic and unstructured environment,…

A sensor-fused wearable assistance prototype for upper-limb function (triceps brachii and extensor pollicis brevis) is presented. The device integrates surface electromyography (sEMG), an inertial measurement unit (IMU), and flex/force…

Human-robot collaborative tasks foresee interactions between humans and robots with various degrees of complexity. Specifically, for tasks which involve physical contact among the agents, challenges arise in the modelling and control of…

The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…

The lack of haptically aware upper-limb prostheses forces amputees to rely largely on visual cues to complete activities of daily living. In contrast, able-bodied individuals inherently rely on conscious haptic perception and automatic…

Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many…

It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…

Over the last decade, there has been significant progress in the field of interactive virtual rehabilitation. Physical therapy (PT) stands as a highly effective approach for enhancing physical impairments. However, patient motivation and…

The control of collective robotic systems, such as drone swarms, is often delegated to autonomous navigation algorithms due to their high dimensionality. However, like other robotic entities, drone swarms can still benefit from being…

Haptic sensation is an important modality for interacting with the real world. This paper proposes a general framework of inferring haptic forces on the surface of a 3D structure from internal deformations using a small number of physical…

In robotics, many control and planning schemes have been developed to ensure human physical safety in human-robot interaction. The human psychological state and the expectation towards the robot, however, are typically neglected. Even if…

Functional Magnetic Resonance Imaging~(fMRI) is a popular non-invasive modality to investigate activation in the human brain. The end result of most fMRI experiments is an activation map corresponding to the given paradigm. These maps can…

This paper studies the problem of passive grasp stability under an external disturbance, that is, the ability of a grasp to resist a disturbance through passive responses at the contacts. To obtain physically consistent results, such a…

Artificial electronic skins covering complete robot bodies can make physical human-robot collaboration safe and hence possible. Standards for collaborative robots (e.g., ISO/TS 15066) prescribe permissible forces and pressures during…

Interactions between the brain and body are of fundamental importance for human behavior and health. Functional magnetic resonance imaging (fMRI) captures whole-brain activity noninvasively, and modeling how fMRI signals interact with…

This paper proposes a hybrid learning and optimization framework for mobile manipulators for complex and physically interactive tasks. The framework exploits an admittance-type physical interface to obtain intuitive and simplified human…