相关论文: Construction of Musculoskeletal Simulation for Sho…
Aging populations and the rising prevalence of neurological and musculoskeletal disorders increase the demand for wearable mobility assistive devices that are effective, comfortable, and anatomically compatible. Many existing systems use…
Body posture influences human and robots performance in manipulation tasks, as appropriate poses facilitate motion or force exertion along different axes. In robotics, manipulability ellipsoids arise as a powerful descriptor to analyze,…
The shoulder is responsible for the movement of the entire upper limb. It is capable of articulating in three degrees-of-freedom (DOF), enabling the arm to perform manipulation actions with incomparable dexterity. Exoskeletons targeting the…
Use of physics-based simulation as a planning model enables a planner to reason and generate plans that involve non-trivial interactions with the world. For example, grasping a milk container out of a cluttered refrigerator may involve…
The 'infinite' passive degrees of freedom of soft robotic arms render their control especially challenging. In this paper, we leverage a previously developed model, which drawing equivalence of the soft arm to a series of universal joints,…
The hand, a complex effector comprising dozens of degrees of freedom of movement, endows us with the ability to flexibly, precisely, and effortlessly interact with objects. The neural signals associated with dexterous hand movements in…
In recent years, the research of rehabilitation robot technology has become a hotspot in the field of rehabilitation medicine engineering and robotics. To assist active rehabilitation in patients with unilateral lower extremity injury, we…
A realistic human kinematic model that satisfies anatomical constraints is essential for human-robot interaction, biomechanics and robot-assisted rehabilitation. Modeling realistic joint constraints, however, is challenging as human arm…
Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and…
The analysis of human movements has been extensively studied due to its wide variety of practical applications, such as human-robot interaction, human learning applications, or clinical diagnosis. Nevertheless, the state-of-the-art still…
Although a growing number of exoskeletons have been developed for occupational applications, wrist exoskeletons remain relatively rare. However, in the meat processing industry, elbow and hand-wrist musculoskeletal disorders are…
Accurate and efficient simulation of modern robots remains challenging due to their high degrees of freedom and intricate mechanisms. Neural simulators have emerged as a promising alternative to traditional analytical simulators, capable of…
The paper discusses the kinematics of manipulators builts of planar closed kinematic chains. A special kinematic scheme is extracted from the array of these mechanisms that looks the most promising for the creation of different types of…
Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…
The brain has evolved to effectively control the body, and in order to understand the relationship we need to model the sensorimotor transformations underlying embodied control. As part of a coordinated effort, we are developing a…
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…
Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed…
The musculoskeletal humanoid can move well under environmental contact thanks to its body softness. However, there are few studies that actively make use of the environment to rest its flexible musculoskeletal body. Also, its complex…
In robotics, simulation has the potential to reduce design time and costs, and lead to a more robust engineered solution and a safer development process. However, the use of simulators is predicated on the availability of good models. This…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…