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Configurable robots are made up of robotic modules that can be assembled or can configure themselves into multiple robot configurations. In this research plan, a method for upper-body rehabilitation will be discussed in the form of a…
Cardiovascular diseases (CVDs) and congenital heart diseases (CHD) pose significant global health challenges. Fluoroscopy-guided endovascular interventions, though effective, are accompanied by ionizing radiation concerns, especially in…
The hybridisation of robot-assisted gait training and functional electrical stimulation (FES) can provide numerous physiological benefits to neurological patients. However, the design of an effective hybrid controller poses significant…
Rehabilitation aims to help patients with limited mobility regain their physical abilities through targeted movements, exercises, stimulation, and other therapeutic methods. Recent advances in technology have introduced sensor-based systems…
This work proposes a novel control and estimation approach for aerial manipulation of a cable-suspended load using Unmanned Aerial Vehicles (UAVs). Common approaches in the state of the art have practical limitations, relying on direct load…
In the field of architecture, early detection of damage or degradation of building facades has become increasingly vital due to the need for continuous monitoring of structural integrity. Traditional methods, such as visual inspections, are…
The use of tiny devices capable of low-latency gesture recognition is gaining momentum in everyday human-computer interaction and especially in medical monitoring fields. Embedded solutions such as fall detection, rehabilitation tracking,…
In emergencies, treatment needs to be fast, accu-rate and patient-specific. For instance, in emergency scenarios, obstacles like treatment environments and medical difficulties can lead to bad outcomes for patients. Additionally, a drastic…
Only a small percentage of blind and low-vision people use traditional mobility aids such as a cane or a guide dog. Various assistive technologies have been proposed to address the limitations of traditional mobility aids. These devices…
Robotics and automation have the potential to significantly improve quality of life for people with assistive needs and their carers. Adoption of such technologies at this point in time is far from widespread. This paper presents a novel…
The last few decades have witnessed an emerging trend of wearable soft sensors; however, there are important signal-processing challenges for soft sensors that still limit their practical deployment. They are error-prone when displaced,…
In this paper, we present a light-weight, multi- axis compliant tenegrity joint that is biologically inspired by the human elbow. This tensegrity elbow actuates by shortening and lengthening cable in a method inspired by muscular actuation…
A proportional iterative learning control (P-ILC) for linear models of an existing hybrid stroke rehabilitation scheme is implemented for elbow extension/flexion during a rehabilitative task. Owing to transient error growth problem of…
This paper describes the control, and evaluation of a new human-scaled biped robot with liquid cooled viscoelastic actuators (VLCA). Based on the lessons learned from previous work from our team on VLCA [1], we present a new system design…
Cable transmission enables motors of robotic arm to operate lightweight and low-inertia joints remotely in various environments, but it also creates issues with motion coupling and cable routing that can reduce arm's control precision and…
Mobile manipulators in the home can provide increased autonomy to individuals with severe motor impairments, who often cannot complete activities of daily living (ADLs) without the help of a caregiver. Teleoperation of an assistive mobile…
Wearable devices hold great potential for promoting children's health and well-being. However, research on kids' wearables is sparse and often focuses on their use in the context of parental surveillance. To gain insight into the current…
Impedance-based control represents a prevalent strategy in the powered trans femoral prostheses because of its ability to reproduce natural walking. However, most existing studies have developed impedance-based prosthesis controllers for…
Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…
While guide dogs offer essential mobility assistance, their high cost, limited availability, and care requirements make them inaccessible to most blind or low vision (BLV) individuals. Recent advances in quadruped robots provide a scalable…