相关论文: Safety Evaluation of Human Arm Operations Using IM…
This study presents a practical approach for early fault detection in industrial pump systems using real-world sensor data from a large-scale vertical centrifugal pump operating in a demanding marine environment. Five key operational…
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…
Many day-to-day activities involve people working collaboratively toward reaching a desired outcome. Previous research in motor control and neuroscience have proposed inter-personal motor synergy (IPMS) as a mechanism of collaboration…
The semiconductor industry is one of the most technology-evolving and capital-intensive market sectors. Effective inspection and metrology are necessary to improve product yield, increase product quality and reduce costs. In recent years,…
Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained…
Synchrophasor technology is an emerging and developing technology for monitoring and control of wide area measurement systems (WAMS). In an elementary WAMS, two identical phasors measured at two different locations have difference in the…
Recent studies confirm the applicability of Inertial Measurement Unit (IMU)-based systems for human motion analysis. Notwithstanding, high-end IMU-based commercial solutions are yet too expensive and complex to democratize their use among a…
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…
This study presents ME-WARD (Multimodal Ergonomic Workplace Assessment and Risk from Data), a novel system for ergonomic assessment and musculoskeletal risk evaluation that implements the Rapid Upper Limb Assessment (RULA) method. ME-WARD…
Human activity recognition (HAR) is essential for effective Human-Robot Collaboration (HRC), enabling robots to interpret and respond to human actions. This study evaluates the ability of a vision-based tactile sensor to classify 15…
Industrial standards define safety requirements for Human-Robot Collaboration (HRC) in industrial manufacturing. The standards particularly require real-time monitoring and securing of the minimum protective distance between a robot and an…
Robot learning methods have recently made great strides, but generalization and robustness challenges still hinder their widespread deployment. Failing to detect and address potential failures renders state-of-the-art learning systems not…
Accurate and physically feasible human motion prediction is crucial for safe and seamless human-robot collaboration. While recent advancements in human motion capture enable real-time pose estimation, the practical value of many existing…
This paper presents a novel online framework for safe crowd-robot interaction based on risk-sensitive stochastic optimal control, wherein the risk is modeled by the entropic risk measure. The sampling-based model predictive control relies…
A wide range of user perception applications leverage inertial measurement unit (IMU) data for online prediction. However, restricted by the non-i.i.d. nature of IMU data collected from mobile devices, most systems work well only in a…
Dynamic state and parameter estimation methods for dynamic security assessment in power systems are becoming increasingly important for system operators. Usually, the data used for this type of applications stems from phasor measurement…
We present a novel application of robust control and online learning for the balancing of a n Degree of Freedom (DoF), Wheeled Inverted Pendulum (WIP) humanoid robot. Our technique condenses the inaccuracies of a mass model into a Center of…
In recent years, the focus on developing robot manipulators has shifted towards prioritizing safety in Human-Robot Interaction (HRI). Impedance control is a typical approach for interaction control in collaboration tasks. However, such a…
The physical load of jumps plays a critical role in injury prevention for volleyball players. However, manual video analysis of jump activities is time-intensive and costly, requiring significant effort and expensive hardware setups. The…
Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…