相关论文: Upper-limb Geometric MyoPassivity Map for Physical…
Humanoid and legged robots interact with the environment through intermittent contacts, making accurate motion estimation fundamentally dependent on reasoning about contact dynamics. However, standard sensing pipelines-whether based on…
The nociceptive withdrawal reflex (NWR) is a mechanism to mediate interactions and protect the body from damage in a potentially dangerous environment. To better convey warning signals to users of prosthetic arms or autonomous robots and…
Information about the position of an object that is held in both hands, such as a golf club or a tennis racquet, is transmitted to the human central nervous system from peripheral sensors in both left and right arms. How does the brain…
We model Human-Robot-Interaction (HRI) scenarios as linear dynamical systems and use Model Predictive Control (MPC) with mixed integer constraints to generate human-aware control policies. We motivate the approach by presenting two…
Imitation learning is a powerful paradigm for robot skill acquisition, yet conventional demonstration methods--such as kinesthetic teaching and teleoperation--are cumbersome, hardware-heavy, and disruptive to workflows. Recently, passive…
Cross-user electromyography (EMG)-based gesture recognition represents a fundamental challenge in achieving scalable and personalized human-machine interaction within real-world applications. Despite extensive efforts, existing…
Contactless diagnosis of musculoskeletal disorders can potentially improve population health as well as robot behaviours in collaborative settings. However, current diagnosis methods require an in-person physical examination in which a…
Humanoid robots can support human workers in physically demanding environments by performing tasks that require whole-body coordination, such as lifting and transporting heavy objects.These tasks, which we refer to as Dynamic Mobile…
How can we train an assistive human-machine interface (e.g., an electromyography-based limb prosthesis) to translate a user's raw command signals into the actions of a robot or computer when there is no prior mapping, we cannot ask the user…
The sit-to-stand movement is a key feature for wide adoption of powered lower limb orthoses for patients with complete paraplegia. In this paper we study the control of the ascending phase of the sit-to-stand movement for a minimally…
Rehabilitation training for patients with motor disabilities usually requires specialized devices in rehabilitation centers. Home-based multi-purpose training would significantly increase treatment accessibility and reduce medical costs.…
Learning physical interaction skills, such as dancing, handshaking, or sparring, remains a fundamental challenge for agents operating in human environments, particularly when the agent's morphology differs significantly from that of the…
Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions with their environment. Consequently, such research is often…
Designing an exoskeleton to reduce the risk of low-back injury during lifting is challenging. Computational models of the human-robot system coupled with predictive movement simulations can help to simplify this design process. Here, we…
A key aspect of developing fall prevention systems is the early prediction of a fall before it occurs. This paper presents a statistical overview of results obtained by analyzing 22 activities of daily living to recognize physiological…
Dexterous hand manipulation increasingly relies on large-scale motion datasets with precise hand-object trajectory data. However, existing resources such as DexYCB and HO3D are primarily optimized for visual alignment but often yield…
The vision-based grasping brain network integrates visual perception with cognitive and motor processes for visuomotor tasks. While invasive recordings have successfully decoded localized neural activity related to grasp type planning and…
Event-related desynchronization and synchronization (ERD/S) and movement-related cortical potential (MRCP) play an important role in brain-computer interfaces (BCI) for lower limb rehabilitation, particularly in standing and sitting.…
Passive elastic elements can contribute to stability, energetic efficiency, and impact absorption in both biological and robotic systems. They also add dynamical complexity which makes them more challenging to model and control. The impact…
The instability of myoelectric signals over time complicates their use to control highly articulated prostheses. To address this problem, studies have tried to combine surface electromyography with modalities that are less affected by the…