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Successful robot-mediated rehabilitation requires designing games and robot interventions that promote healthy motor practice. However, the interplay between a given user's neuromotor behavior, the gaming interface, and the physical robot…
Assistive robots for healthcare have seen a growing demand due to the great potential of relieving medical practitioners from routine jobs. In this paper, we investigate the development of an optimization-based control framework for an…
Work-related musculoskeletal disorders (WMSDs) remain one of the major occupational safety and health problems in the European Union nowadays. Thus, continuous tracking of workers' exposure to the factors that may contribute to their…
Objective: Stroke is one of the leading causes of disabilities. One promising approach is to extend the rehabilitation with self-initiated robot-assisted movement therapy. To enable this, it is required to detect the patient's intention to…
Tendon-driven continuum robots offer intrinsically safe and contact-rich interactions owing to their kinematic redundancy and structural compliance. However, their perception often depends on external sensors, which increase hardware…
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…
Stroke is a medical condition that can affect motor function, particularly dynamic balance. Biofeedback can aid in rehabilitation procedures which help patients to regain lost motor activity and recover functionality. In this work, we are…
Intuitively, prostheses with user-controllable stiffness could mimic the intrinsic behavior of the human musculoskeletal system, promoting safe and natural interactions and task adaptability in real-world scenarios. However, prosthetic…
Performing a grasp is a pivotal capability for a robotic gripper. We propose a new evaluation approach of grasping stability via constructing a model of grasping stiffness based on the theory of contact mechanics. First, the mathematical…
Contactless diagnosis of musculoskeletal disorders can potentially improve population health as well as robot behaviours in collaborative settings. However, current diagnosis methods require an in-person physical examination in which a…
Stochastic Spatio-Temporal processes are prevalent across domains ranging from modeling of plasma to the turbulence in fluids to the wave function of quantum systems. This letter studies a measure-theoretic description of such systems by…
Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…
Haptic feedback to the surgeon during robotic surgery would enable safer and more immersive surgeries but estimating tissue interaction forces at the tips of robotically controlled surgical instruments has proven challenging. Few existing…
Robust control of complex engineered and biological systems hinges on the integration of feedforward and feedback mechanisms. This is exemplified in neural motor control, where feedforward muscle co-contraction complements sensory-driven…
Stroke is known as a major global health problem, and for stroke survivors it is key to monitor the recovery levels. However, traditional stroke rehabilitation assessment methods (such as the popular clinical assessment) can be subjective…
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…
Assistive robots have growing potential to support physical wellbeing in home and healthcare settings, for example, by guiding users through stretching or rehabilitation routines. However, existing systems remain largely scripted, which…
The sophisticated sense of touch of the human hand significantly contributes to our ability to safely, efficiently, and dexterously manipulate arbitrary objects in our environment. Robotic and prosthetic devices lack refined, tactile…
Recent advances in remote health monitoring systems have significantly benefited patients and played a crucial role in improving their quality of life. However, while physiological health-focused solutions have demonstrated increasing…
Current studies about motor imagery based rehabilitation training systems for stroke subjects lack an appropriate analytic method, which can achieve a considerable classification accuracy, at the same time detects gradual changes of imagery…