相关论文: Design, Characterization, and Validation of a Vari…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
The field of robotics is a quickly evolving feat of technology that accepts contributions from various genres of science. Neuroscience, Physiology, Chemistry, Material science, Computer science, and the wide umbrella of mechatronics have…
Upper-limb amputees face tremendous difficulty in operating dexterous powered prostheses. Previous work has shown that aspects of prosthetic hand, wrist, or elbow control can be improved through "intelligent" control, by combining…
Object insertion tasks are prone to failure under pose uncertainty and environmental variation, often requiring manual fine-tuning or controller retraining. We present a novel approach for robust and resilient object insertion using a…
This paper presents an interaction control algorithm for a dielectric elastomer membrane actuator. The proposed method permits efficient exploitation of the controllable stiffness of the material, allowing to use the membrane as a…
Many people suffer from the loss of a limb. Learning to get by without an arm or hand can be very challenging, and existing prostheses do not yet fulfil the needs of individuals with amputations. One promising solution is to provide greater…
Functional upper-limb prosthetic training can improve users performance in controlling prostheses and has been incorporated into occupational therapy for individuals in need. In recent years, virtual reality (VR) and augmented reality (AR)…
In robotic applications, actuators are typically designed to be stiff with minimal backlash to ensure precision and repeatability. However, this limits compliance, leading to potential damage and poor force control in uncertain…
Lower-limb prosthesis wearers are more prone to falling than non-amputees. Powered prostheses can reduce this instability of passive prostheses. While shown to be more stable in practice, powered prostheses generally use model-independent…
Supernumerary robotic limbs (SRLs) offer substantial potential in both the rehabilitation of hemiplegic patients and the enhancement of functional capabilities for healthy individuals. Designing a general-purpose SRL device is inherently…
Robots are increasingly being deployed not only in workplaces but also in households. Effectively execute of manipulation tasks by robots relies on variable impedance control with contact forces. Furthermore, robots should possess adaptive…
In this paper, we propose a novel design of a hybrid mobile robot with controllable stiffness and deformable shape. Compared to conventional mobile agents, our system can switch between rigid and compliant phases by solidifying or melting…
In the context of telehealth, robotic approaches have proven a valuable solution to in-person visits in remote areas, with decreased costs for patients and infection risks. In particular, in ultrasonography, robots have the potential to…
The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…
Modular robots offer reconfigurability and fault tolerance essential for lunar missions, but require controllers that adapt safely to real-world disturbances. We build on our previous hardware-agnostic actuator synchronization in Motion…
The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot…
Vision-Language-Action (VLA) models have emerged as promising solutions for robotic manipulation, yet their robustness to real-world physical variations remains critically underexplored. To bridge this gap, we propose Eva-VLA, the first…
Current control strategies for powered lower limb prostheses often lack awareness of the environment and the user's intended interactions with it. This limitation becomes particularly apparent in complex terrains. Obstacle negotiation, a…
Environment awareness is crucial for enhancing walking safety and stability of amputee wearing powered prosthesis when crossing uneven terrains such as stairs and obstacles. However, existing environmental perception systems for prosthesis…
Active control of the shape of soft robots is challenging. Despite having an infinite number of passive degrees of freedom (DOFs), soft robots typically only have a few actively controllable DOFs, limited by the number of degrees of…