相关论文: Learning Hand State Estimation for a Light Exoskel…
While hand pose estimation is a critical component of most interactive extended reality and gesture recognition systems, contemporary approaches are not optimized for computational and memory efficiency. In this paper, we propose a tiny…
Data-driven joint-moment predictors offer a scalable alternative to laboratory-based inverse-dynamics pipelines for biomechanics estimation and exoskeleton control. Meanwhile, physics-based reinforcement learning (RL) enables…
Anthropomorphic underactuated hands are valued for their structural simplicity and inherent adaptability. However, the uncertainty arising from interdependent joint motions makes it challenging to capture various grasp states during…
Sit-to-Stand (StS) is a fundamental daily activity that can be challenging for stroke survivors due to strength, motor control, and proprioception deficits in their lower limbs. Existing therapies involve repetitive StS exercises, but these…
Limb loss affects millions globally, impairing physical function and reducing quality of life. Most traditional surface electromyographic (sEMG) and semi-autonomous methods require users to generate myoelectric signals for each control,…
Electromyography (EMG) is a measure of muscular electrical activity and is used in many clinical/biomedical disciplines and modern human computer interaction. Myo-electric prosthetics analyze and classify the electrical signals recorded…
The flexible musculoskeletal hand is difficult to modelize, and its model can change constantly due to deterioration over time, irreproducibility of initialization, etc. Also, for object recognition, contact detection, and contact control…
This paper presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work has shown that providing some freedom of movement around a…
Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our contribution to this field is a textile robotic glove with…
Robotic systems can enhance the amount and repeatability of physically guided motor training. Yet their real-world adoption is limited, partly due to non-intuitive trainer/therapist-trainee/patient interactions. To address this gap, we…
Most commercially available haptic gloves compromise the accuracy of hand-posture measurements in favor of a simpler design with fewer sensors. While inaccurate posture data is often sufficient for the task at hand in biomedical settings…
Dexterous manipulation of objects in virtual environments with our bare hands, by using only a depth sensor and a state-of-the-art 3D hand pose estimator (HPE), is challenging. While virtual environments are ruled by physics, e.g. object…
Positive biomechanical outcomes have been reported with lower-limb exoskeletons in laboratory settings, but these devices have difficulty delivering appropriate assistance in synchrony with human gait as the task or rate of phase…
Estimating 3D interacting hand pose from a single RGB image is essential for understanding human actions. Unlike most previous works that directly predict the 3D poses of two interacting hands simultaneously, we propose to decompose the…
Human hand actions are quite complex, especially when they involve object manipulation, mainly due to the high dimensionality of the hand and the vast action space that entails. Imitating those actions with dexterous hand models involves…
In this paper we consider a class of exoskeletons designed to amplify the strength of humans through feedback of sensed human-robot interactions and actuator forces. We define an amplification error signal based on a reference amplification…
Squatting is one of the most demanding lower-limb movements, requiring substantial muscular effort and coordination. Reducing the physical demands of this task through intelligent and personalized assistance has significant implications,…
The paper addresses the rehabilitation of disabled patients using a lower-limb fully-actuated exoskeleton. We propose a novel numerical method to replan the current step without jeopardizing stability. Stability is evaluated in the light of…
Individuals with spinal cord injury (SCI) and stroke who is lack of manipulation capability have a particular need for robotic hand exoskeletons. Among assistive and rehabilitative medical exoskeletons, there exists a sharp trade-off…
Since the emergence of large annotated datasets, state-of-the-art hand pose estimation methods have been mostly based on discriminative learning. Recently, a hybrid approach has embedded a kinematic layer into the deep learning structure in…