相关论文: Characterization, Experimental Validation and Pilo…
Objective: The next generation prosthetic hand that moves and feels like a real hand requires a robust neural interconnection between the human minds and machines. Methods: Here we present a neuroprosthetic system to demonstrate that…
The acoustic response of an object can reveal a lot about its global state, for example its material properties or the extrinsic contacts it is making with the world. In this work, we build an active acoustic sensing gripper equipped with…
Background: Upper-limb weakness and tremor (4--12 Hz) limit activities of daily living (ADL) and reduce adherence to home rehabilitation. Objective: To assess technical feasibility and clinician-relevant signals of a sensor-fused wearable…
Myoelectric prosthetic hands are typically controlled to move between discrete positions and do not provide sensory feedback to the user. In this work, we present and evaluate a closed-loop, continuous myoelectric prosthetic hand…
Current upper limb prostheses aim to enhance user independence in daily activities by incorporating basic motor functions. However, they fall short of replicating the natural movement and interaction capabilities of the human arm. In…
Accurate prediction of perceptual attributes of haptic textures is essential for advancing VR and AR applications and enhancing robotic interaction with physical surfaces. This paper presents a deep learning-based multi-modal framework,…
This study aimed to develop a system that provides vibrotactile feedback corresponding to the emotional content of text when a communication robot speaks. We used OpenAI's "GPT-4o Mini" for emotion estimation, extracting valence and arousal…
Although robots with flexible bodies are superior in terms of the contact and adaptability, it is difficult to control them precisely. On the other hand, human beings make use of the surrounding environments to stabilize their bodies and…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
Realistic display of tactile textures on touch screens is a big step forward for haptic technology to reach a wide range of consumers utilizing electronic devices on a daily basis. Since the texture topography cannot be rendered explicitly…
Objective: This paper proposes a novel type of stimulus in the shape of sinusoidal gratings displayed with an imperceptibly high-frequency motion. The stimulus has been designed for use in BCI (Brain Computer Interface) applications that…
The collaborative robot market is flourishing as there is a trend towards simplification, modularity, and increased flexibility on the production line. But when humans and robots are collaborating in a shared environment, the safety of…
Developing artificial tactile sensing capabilities that rival human touch is a long-term goal in robotics and prosthetics. Gradually more elaborate biomimetic tactile sensors are being developed and applied to grasping and manipulation…
Upper limb and hand functionality is critical to many activities of daily living and the amputation of one can lead to significant functionality loss for individuals. From this perspective, advanced prosthetic hands of the future are…
This paper presents Funabot-Upper, a wearable haptic suit that enables users to perceive 14 upper-body motions, including those of the trunk, shoulder, elbow, and wrist. Inducing kinesthetic perception through wearable haptic devices has…
The growing adoption of extended reality (XR) has increased demand for wearable technologies that provide naturalistic tactile sensations while allowing users to interact freely with their environments using bare fingers. However, most…
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…
Physical interactions with socially assistive robots (SARs) positively affect user wellbeing. However, haptic experiences when touching a SAR are typically limited to perceiving the robot's movements or shell texture, while other modalities…
This study proposes a retinal prosthetic simulation framework driven by visual fixations, inspired by the saccade mechanism, and assesses performance improvements through end-to-end optimization in a classification task. Salient patches are…
One of the most important object properties that humans and robots perceive through touch is hardness. This paper investigates information-theoretic active sampling strategies for sample-efficient hardness classification with vision-based…