相关论文: Gravity Balanced Arm Exoskeleton for Basketball Sh…
A new approach in team sports analysis consists in studying positioning and movements of players during the game in relation to team performance. State of the art tracking systems produce spatio-temporal traces of players that have…
We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as…
The traditional way of estimating the gravitational field from observed motions of test objects is based on the virial relation between their kinetic and potential energy. We find a more efficient method. It is based on the natural…
Achieving robust grasping with dexterous hands remains challenging, especially when manipulation involves dynamic forces such as impacts, torques, and continuous resistance--situations common in real-world tool use. Existing methods largely…
Positive biomechanical outcomes have been reported with lower-limb exoskeletons in laboratory settings, but these devices have difficulty delivering appropriate assistance in synchrony with human gait as the task or rate of phase…
Gravitational potential energy of the homogeneous bispherical concavo-convex lens, with the equal absolute values of radii of curvature of both surfaces is studied.
One of the first tasks we learn as children is to grasp objects based on our tactile perception. Incorporating such skill in robots will enable multiple applications, such as increasing flexibility in industrial processes or providing…
Exoskeletons show great promise for enhancing mobility, but providing appropriate assistance remains challenging due to the complexity of human adaptation to external forces. Current state-of-the-art approaches for optimizing exoskeleton…
Developing exoskeletons that can reduce the metabolic cost of assisted subjects is challenging since a systematic design approach is required to capture the effects of device dynamics and the assistance torques on human performance. Design…
Pediatric exoskeletons offer great promise to increase mobility for children with crouch gait caused by cerebral palsy. A lightweight, compliant and user-specific actuator is critical for maximizing the benefits of an exoskeleton to users.…
This paper presents an analytical framework to study the geometry arising when a soft continuum arm grasps a planar object. Both the arm centerline and the object boundary are modeled as smooth curves. The grasping problem is formulated as…
A flying trapeze act can be a challenging task for a robotics system since some act requires the performer to catch another trapeze or catcher at the end after being airborne. The objective of this paper is to design and validate a motion…
The use of wearable robots has been widely adopted in rehabilitation training for patients with hand motor impairments. However, the uniqueness of patients' muscle loss is often overlooked. Leveraging reinforcement learning and a…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
Using lower-limbs exoskeletons provides potential advantages in terms of productivity and safety associated with reduced stress. However, complex issues in human-robot interaction are still open, such as the physiological effects of…
We consider shared workspace scenarios with humans and robots acting to achieve independent goals, termed as parallel play. We model these as general-sum games and construct a framework that utilizes the Nash equilibrium solution concept to…
Individuals with spinal cord injury (SCI) and stroke who is lack of manipulation capability have a particular need for robotic hand exoskeletons. Among assistive and rehabilitative medical exoskeletons, there exists a sharp trade-off…
The heavy-load legged robot has strong load carrying capacity and can adapt to various unstructured terrains. But the large weight results in higher requirements for motion stability and environmental perception ability. In order to utilize…
This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…
We obtain a new exact equilibrium solution to the N-body problem in a one-dimensional relativistic self-gravitating system. It corresponds to an expanding/contracting spacetime of a circle with N bodies at equal proper separations from one…