相关论文: Simulating Safe Bite Transfer in Robot-Assisted Fe…
Robot-assisted feeding can greatly enhance the lives of those with mobility limitations. Modern feeding systems can pick up and position food in front of a care recipient's mouth for a bite. However, many with severe mobility constraints…
Whole-body manipulation is a powerful yet underexplored approach that enables robots to interact with large, heavy, or awkward objects using more than just their end-effectors. Soft robots, with their inherent passive compliance, are…
Assistance during eating is essential for those with severe mobility issues or eating risks. However, dependence on traditional human caregivers is linked to malnutrition, weight loss, and low self-esteem. For those who require eating…
Robot-assisted feeding in household environments is challenging because it requires robots to generate trajectories that effectively bring food items of varying shapes and sizes into the mouth while making sure the user is comfortable. Our…
We demonstrate a robot-assisted feeding system that enables people with mobility impairments to feed themselves. Our system design embodies Safety, Portability, and User Control, with comprehensive full-stack safety checks, the ability to…
In recent years, artificial feet based on soft robotics and under-actuation principles emerged to improve mobility on challenging terrains. This paper presents the application of the MuJoCo physics engine to realize a digital twin of an…
Transferring human motion to a mobile robotic manipulator and ensuring safe physical human-robot interaction are crucial steps towards automating complex manipulation tasks in human-shared environments. In this work, we present a novel…
For safe and reliable deployment of any robot controller on the real hardware platform, it is generally a necessary practice to comprehensively assess the performance of the controller with the specific robot in a realistic simulation…
The development of novel texture adaptations for the management of swallowing disorders could be accelerated if reliable in vitro tests were made available. This study addresses some of the limitations of swallowing in vitro models, by…
Although soft robots show safer interactions with their environment than traditional robots, soft mechanisms and actuators still have significant potential for damage or degradation particularly during unmodeled contact. This article…
A realistic simulation environment is an essential tool in every roboticist's toolkit, with uses ranging from planning and control to training policies with reinforcement learning. Despite the centrality of simulation in modern robotics,…
With the increasing use of assistive robots in rehabilitation and assisted mobility of human patients, there has been a need for a deeper understanding of human-robot interactions particularly through simulations, allowing an understanding…
Simulating soft robots in cluttered environments remains an open problem due to the challenge of capturing complex dynamics and interactions with the environment. Furthermore, fast simulation is desired for quickly exploring robot behaviors…
Adaptive morphogenetic robots adapt their morphology and control policies to meet changing tasks and environmental conditions. Many such systems leverage soft components, which enable shape morphing but also introduce simulation and control…
Mimicking the graceful motion of swimming animals remains a core challenge in soft robotics due to the complexity of fluid-structure interaction and the difficulty of controlling soft, biomimetic bodies. Existing modeling approaches are…
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
Dynamic modeling and control are critical for unleashing soft robots' potential, yet remain challenging due to their complex constitutive behaviors and real-world operating conditions. Bio-inspired musculoskeletal robots, which integrate…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
Advanced machine learning algorithms require platforms that are extremely robust and equipped with rich sensory feedback to handle extensive trial-and-error learning without relying on strong inductive biases. Traditional robotic designs,…