相关论文: Construction of Musculoskeletal Simulation for Sho…
Human and humanoid posture control models usually rely on single or multiple degrees of freedom inverted pendulum representation of upright stance associated with a feedback controller. In models typically focused on the action between…
Precise and elegant coordination of a prosthesis across many degrees of freedom represents a significant challenge to efficient rehabilitation of people with limb deficiency. Processing the electrical neural signals, collected from the…
Neurocognitive models of higher-level somatosensory processing have emphasised the role of stored body representations in interpreting real-time sensory signals coming from the body (Longo, Azanon and Haggard, 2010; Tame, Azanon and Longo,…
Automatic segmentation of pathological shoulder muscles in patients with musculo-skeletal diseases is a challenging task due to the huge variability in muscle shape, size, location, texture and injury. A reliable fully-automated…
Recent progress in human-robot collaboration makes fast and fluid interactions possible, even when human observations are partial and occluded. Methods like Interaction Probabilistic Movement Primitives (ProMP) model human trajectories…
Despite the fact that only a small portion of muscles are affected in motion disease and disorders, medical therapies do not distinguish between healthy and unhealthy muscles. In this paper, a method is devised in order to calculate the…
The upper limb robotic exoskeleton is an electromechanical device which use to recover a patients motor dysfunction in the rehabilitation field. It can provide repetitive, comprehensive, focused, positive, and precise training to regain the…
Endowing humanoid robots with the ability to perform highly dynamic motions akin to human-level acrobatics has been a long-standing challenge. Successfully performing these maneuvers requires close consideration of the underlying physics in…
Spine biomechanics is at a transformation with the advent and integration of machine learning and computer vision technologies. These novel techniques facilitate the estimation of 3D body shapes, anthropometrics, and kinematics from as…
Quantitatively evaluating and comparing the performance of robotic solutions that are designed to work under a variety of conditions is inherently challenging because they need to be evaluated under numerous precisely repeatable conditions…
Articulation modeling enables robots to learn joint parameters of articulated objects for effective manipulation which can then be used downstream for skill learning or planning. Existing approaches often rely on prior knowledge about the…
A task-sequencing simulator in robotics manipulation to integrate simulation-for-learning and simulation-for-execution is introduced. Unlike existing machine-learning simulation where a non-decomposed simulation is used to simulate a…
A portable imaging system for the on-site detection of shoulder injury is necessary to identify its extent and avoid its development to severe condition. Here, firstly a microwave tomography system is introduced using state-of-the-art…
Accurate physical simulation is crucial for the development and validation of control algorithms in robotic systems. Recent works in Reinforcement Learning (RL) take notably advantage of extensive simulations to produce efficient robot…
An efficient, generalizable physical simulator with universal uncertainty estimates has wide applications in robot state estimation, planning, and control. In this paper, we build such a simulator for two scenarios, planar pushing and ball…
We introduce a new isometric strain model for the study of the dynamics of cloth garments in a moderate stress environment, such as robotic manipulation in the neighborhood of humans. This model treats textiles as surfaces which are…
Joint injuries, and their long-term consequences, present a substantial global health burden. Wearable prophylactic braces are an attractive potential solution to reduce the incidence of joint injuries by limiting joint movements that are…
Humans and other animals coactivate agonist and antagonist muscles in many motor actions. Increases in muscle coactivation are thought to leverage viscoelastic properties of skeletal muscles to provide resistance against limb motion.…
Tendon-driven musculoskeletal humanoids typically have complex structures similar to those of human beings, such as ball joints and the scapula, in which encoders cannot be installed. Therefore, joint angles cannot be directly obtained and…
Ensuring the safe and reliable operation of collaborative robots demands robust sensor diagnostics. This paper introduces a methodology for formulating model-based constraints tailored for sensor diagnostics, featuring analytical…