相关论文: Wearable Sensory Substitution for Proprioception v…
Pseudo-haptics exploit carefully crafted visual or auditory cues to trick the brain into "feeling" forces that are never physically applied, offering a low-cost alternative to traditional haptic hardware. Here, we present a comparative…
Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…
The paradigm of bare-hand interaction has become increasingly prevalent in Augmented Reality (AR) and Virtual Reality (VR) environments, propelled by advancements in hand tracking technology. However, a significant challenge arises in…
This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…
Pneumatic soft robots present many advantages in manipulation tasks. Notably, their inherent compliance makes them safe and reliable in unstructured and fragile environments. However, full-body shape sensing for pneumatic soft robots is…
A common challenge in home-based rehabilitation is muscle compensation induced by pain or fatigue, where patients with weakened primary muscles recruit secondary muscle groups to assist their movement, causing issues such as delayed…
The use of vibrotactile feedback is of growing interest in the field of prosthetics, but few devices fully integrate this technology in the prosthesis to transmit high-frequency contact information (such as surface roughness and first…
Joint estimation of grasped object pose and extrinsic contacts is central to robust and dexterous manipulation. In this paper, we propose a novel state-estimation algorithm that jointly estimates contact location and object pose in 3D using…
Reconstructing the three-dimensional (3D) geometry of object surfaces is essential for robot perception, yet vision-based approaches are generally unreliable under low illumination or occlusion. This limitation motivates the design of a…
Proprioception is essential for coordinating human movements and enhancing the performance of assistive robotic devices. Skin stretch feedback, which closely aligns with natural proprioception mechanisms, presents a promising method for…
In this preliminary study we address the question of the influence of handedness on the localization of targets perceived through a visuo-auditory substitution device. Participants hold the device in one hand in order to explore the…
Grounded haptic devices can provide a variety of forces but have limited working volumes. Wearable haptic devices operate over a large volume but are relatively restricted in the types of stimuli they can generate. We propose the concept of…
Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is difficult to perceive certain object internal states, and the…
Conductive elastomers present desirable qualities for sensing pressure in-vivo, such as high piezoresistance in tiny volumes, conformability and, biocompatibility. Many PDMS-based electrically conductive nanocomposites however, are…
Pressure ulcers are recognized as a major health issue in individuals with spinal cord injuries and new approaches to prevent this pathology are necessary. An innovative health strategy is being developed through the use of computer and…
Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstation-like counterparts. However, the field is generally lacking effective methods by which the user can operate the device: such…
Soft robotic grippers demonstrate great potential for gently and safely handling objects; however, their full potential for executing precise and secure grasping has been limited by the lack of integrated sensors, leading to problems such…
This paper proposes a wearable-controlled mobile manipulator system for intelligent smart home assistance, integrating MEMS capacitive microphones, IMU sensors, vibration motors, and pressure feedback to enhance human-robot interaction. The…
Smart assistive technologies such as sensor-based footwear and walking aids offer promising opportunities for gait rehabilitation through real-time feedback and patient-centered monitoring. While biofeedback applications show great…
Autonomic Dysreflexia (AD) is a potentially life-threatening condition characterized by sudden, severe blood pressure (BP) spikes in individuals with spinal cord injury (SCI). Early, accurate detection is essential to prevent cardiovascular…