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Objective: Overhead tasks are a primary inducement to work-related musculoskeletal disorders. Aiming to reduce shoulder physical loads, passive shoulder exoskeletons are increasingly prevalent in the industry due to their lightweight,…
The task of self-balancing is one of the most important tasks when developing humanoid robots. This paper proposes a novel external balance mechanism for humanoid robot to maintain sideway balance. First, a dynamic model of the humanoid…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Wearable and legged robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and inefficient for bearing conservative loads and for being…
Reduced shoulder mobility limits upper-limb function and the performance of activities of daily living across a wide range of conditions. Wearable exosuits have shown promise in assisting arm elevation, reducing muscle effort, and…
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…
Generally, humanoid robots usually suffer significant impact force when walking or running in a non-predefined environment that could easily damage the actuators due to high stiffness. In recent years, the usages of passive, compliant…
We propose a novel hands-free control framework for the Boston Dynamics Spot robot using the Microsoft HoloLens 2 mixed-reality headset. Enabling accessible robot control is critical for allowing individuals with physical disabilities to…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…
Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking…
The body structure of an anatomically correct tendon-driven musculoskeletal humanoid is complex, and the difference between its geometric model and the actual robot is very large because expressing the complex routes of tendon wires in a…
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…
A significant challenge for the control of a robotic lower extremity rehabilitation exoskeleton is to ensure stability and robustness during programmed tasks or motions, which is crucial for the safety of the mobility-impaired user. Due to…
The high prevalence of work-related musculoskeletal disorders (WMSDs) could be addressed by optimizing Human-Robot Collaboration (HRC) frameworks for manufacturing applications. In this context, this paper proposes two hypotheses for…
We proposed a method for learning the actual body image of a musculoskeletal humanoid for posture generation and object manipulation using inverse kinematics with redundancy in the shoulder complex. The effectiveness of this method was…
Animals can accomplish many incredible behavioral feats across a wide range of operational environments and scales that current robots struggle to match. One explanation for this performance gap is the extraordinary properties of 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,…
Learning to solve precision-based manipulation tasks from visual feedback using Reinforcement Learning (RL) could drastically reduce the engineering efforts required by traditional robot systems. However, performing fine-grained motor…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…