相关论文: Modeling of Interface Loads for EOD Suit Wearers
Due to the flexibility and adaptability of human, manual handling work is still very important in industry, especially for assembly and maintenance work. Well-designed work operation can improve work efficiency and quality; enhance safety,…
This work aims to describe a mathematical model and a numerical method to simulate a thin anisotropic composite membrane moving and deforming in 3D space under a dynamic load of an arbitrary time and space profile. The model and the method…
Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing. The former enables the robot to ascertain human body pose…
3D-printed artificial skins are a scalable approach to whole-body tactile and proximity coverage, but prior implementations have been limited to unimodal sensing and rigid materials. To improve the practical usability of 3D-printed…
Wheelchairs and mobility devices have transformed our bodies into cybernic systems, enhancing our well-being by enabling individuals with reduced mobility to regain freedom. Notwithstanding, current interfaces of control primarily rely on…
Athletic training is characterized by physiological systems responding to repeated exercise-induced stress, resulting in gradual alterations in the functional properties of these systems. The adaptive response leading to improved…
The interaction between turbulence and surface tension is studied numerically using the one-dimensional-turbulence (ODT) model. ODT is a stochastic model simulating turbulent flow evolution along a notional one-dimensional line of sight by…
Pushing is an essential non-prehensile manipulation skill used for tasks ranging from pre-grasp manipulation to scene rearrangement, reasoning about object relations in the scene, and thus pushing actions have been widely studied in…
The compliant nature of soft wearable robots makes them ideal for complex multiple degrees of freedom (DoF) joints, but also introduce additional structural nonlinearities. Intuitive control of these wearable robots requires robust sensing…
Effective human-robot teaming is crucial for the practical deployment of robots in human workspaces. However, optimizing joint human-robot plans remains a challenge due to the difficulty of modeling individualized human capabilities and…
Agent-based modeling and simulation is a useful method to study biological phenomena in a wide range of fields, from molecular biology to ecology. Since there is currently no agreed-upon standard way to specify such models it is not always…
Identifying stress levels can provide valuable data for mental health analytics as well as labels for annotation systems. Although much research has been conducted into stress detection models using heart rate variability at a higher cost…
Assistive robotic devices, like soft lower-limb exoskeletons or exosuits, are widely spreading with the promise of helping people in everyday life. To make such systems adaptive to the variety of users wearing them, it is desirable to endow…
We propose a novel fast and accurate simulation framework for contact-intensive tight-tolerance robotic assembly tasks. The key components of our framework are as follows: 1) data-driven contact point clustering with a certain…
We provide an experimental evaluation of a wearable augmented reality (AR) system we have developed for human-robot teams working on tasks requiring collaboration in shared physical workspace. Recent advances in AR technology have…
Learning 3D human-object interaction relation is pivotal to embodied AI and interaction modeling. Most existing methods approach the goal by learning to predict isolated interaction elements, e.g., human contact, object affordance, and…
Humans are able to manipulate Deformable Linear Objects (DLOs) such as cables and wires, with little or no visual information, relying mostly on force sensing. In this work, we propose a reduced DLO model which enables such blind…
Human-robot collaborative assembly systems enhance the efficiency and productivity of the workplace but may increase the workers' cognitive demand. This paper proposes an online and quantitative framework to assess the cognitive workload…
In recent years, edge computing has become a popular choice for latency-sensitive applications like facial recognition and augmented reality because it is closer to the end users compared to the cloud. Although infrastructure providers are…
This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…