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Decoding multiple movements from the same limb using electroencephalographic (EEG) activity is a key challenge with applications for controlling prostheses in upper-limb amputees. This study investigates the classification of four hand…
In this paper, a compressed air-actuated soft robotic module was developed by incorporating a shape memory alloy (SMA) wire into its structure to achieve the desired bending angle with greater precision. First, a fiber-reinforced bending…
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…
Automatically configuring a robotic prosthesis to fit its user's needs and physical conditions is a great technical challenge and a roadblock to the adoption of the technology. Previously, we have successfully developed reinforcement…
Back injuries are the most prevalent work-related musculoskeletal disorders and represent a major cause of disability. Although innovations in wearable robots aim to alleviate this hazard, the majority of existing exoskeletons are obtrusive…
Myoelectric prosthetic hands are intended to replace the function of the amputee's lost arm. Therefore, developing robotic prosthetics that can mimic not only the appearance and functionality of humans but also characteristics unique to…
With the rapid development of aerospace technology, the vibration problem of the spacecraft flexible structure urgently needs to be solved. Magnetic fluids are a type of multi-functional smart materials, which can be employed in shock…
Diagnostic activities, such as ultrasound scans and palpation, are relatively low-cost. They play a crucial role in the early detection of health problems and in assessing their progression. However, they are also error-prone activities,…
Voltage stability refers to the ability of a power system to maintain acceptable voltages among all buses under normal operating conditions and after a disturbance. In this paper, a measurement-based voltage stability assessment (VSA)…
Powered ankle-foot prostheses can often reduce the energy cost of walking by assisting with push-off. However, focus on providing mechanical work may lead to ignoring or exacerbating common issues with chronic pain, irritation, pressure…
The automation of user interface development has the potential to accelerate software delivery by mitigating intensive manual implementation. Despite the advancements in Large Multimodal Models for design-to-code translation, existing…
This paper presents modeling of a compliant 2D manipulator, a so called soft hydraulic/fluidic elastomer actuator. Our focus is on fiber-Reinforced Fluidic Elastomer Actuators (RFEA) driven by a constant pressure hydraulic supply and…
Wearable devices like exoskeletons are designed to reduce excessive loads on specific joints of the body. Specifically, single- or two-degrees-of-freedom (DOF) upper-body industrial exoskeletons typically focus on compensating for the…
Prosthetic limb abandonment remains an unsolved challenge as amputees consistently reject their devices. Current prosthetic designs often fail to balance human-like perfomance with acceptable device weight, highlighting the need for…
Wrist exoskeletons play a vital role in rehabilitation and assistive applications, yet conventional actuation mechanisms such as electric motors or pneumatics often introduce undesirable weight, friction, and complexity. This paper presents…
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…
Real-world legged locomotion systems often need to reconcile agility and safety for different scenarios. Moreover, the underlying dynamics are often unknown and time-variant (e.g., payload, friction). In this paper, we introduce BAS…
Sonomyography (SMG) is a novel human-machine interface that controls upper-limb prostheses by monitoring forearm muscle activity using ultrasonic imaging. SMG has been investigated for controlling upper-limb prostheses during the last two…
Semi-autonomous prosthesis controllers based on computer vision improve performance while reducing cognitive effort. However, controllers relying on full-depth data face challenges in being deployed as embedded prosthesis controllers due to…
Electric prosthetic hands should be lightweight to decrease the burden on the user, shaped like human hands for cosmetic purposes, and have motors inside to protect them from damage and dirt. In addition to the ability to perform daily…