相关论文: Optimizing Design and Control Methods for Using Co…

This paper presents the design and development of a robotic system to give physical assistance to the elderly or people with neurological disorders such as Ataxia or Parkinson's. In particular, we propose using a mobile collaborative robot…

The rising number of the elderly incurs growing concern about healthcare, and in particular rehabilitation healthcare. Assistive technology and assistive robotics in particular may help to improve this process. We develop a robot coach…

Robotic assistance allows surgeries to be reliably and accurately executed while still under direct supervision of the surgeon, combining the strengths of robotic technology with the surgeon's expertise. This paper describes a robotic…

For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…

While social robots are developed to provide assistance to users through social interactions, their behaviors are dominantly pre-programmed and remote-controlled. Despite the numerous robot control architectures being developed, very few…

Multi-robot systems offer enhanced capability over their monolithic counterparts, but they come at a cost of increased complexity in coordination. To reduce complexity and to make the problem tractable, multi-robot motion planning (MRMP)…

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…

Legged robots offer several advantages when navigating unstructured environments, but they often fall short of the efficiency achieved by wheeled robots. One promising strategy to improve their energy economy is to leverage their natural…

In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from logistics, to agriculture, to home assistance. The goal of this survey is to cover the recent progress toward…

Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile bases with static manipulator arms. They combine these…

Human-robot collaborative tasks foresee interactions between humans and robots with various degrees of complexity. Specifically, for tasks which involve physical contact among the agents, challenges arise in the modelling and control of…

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…

Many researchers have identified robotics as a potential solution to the aging population faced by many developed and developing countries. If so, how should we address the cognitive acceptance and ambient control of elderly assistive…

Soft robots have gained significant attention due to their flexibility and safety, particularly in human-centric applications. The co-design of structure and controller in soft robotics has presented a longstanding challenge owing to the…

This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…

Significant attention has been paid to robotic rehabilitation using various types of actuator and power transmission. Amongst those, cable-driven rehabilitation robots (CDRRs) are relatively newer and their control strategies have been…

Collaborative robots (cobots) increasingly operate alongside humans, demanding robust real-time safeguarding. Current safety standards (e.g., ISO 10218, ANSI/RIA 15.06, ISO/TS 15066) require risk assessments but offer limited guidance for…

In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration…

This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular,…

This paper aims to develop a new human-machine interface to improve rehabilitation performance from the perspective of both the user (patient) and the machine (robot) by introducing the co-adaption techniques via model-based reinforcement…