相关论文: EMG-Driven Stiffness-Modulating Palpation for Tele…
Hamilton-Jacobi (HJ) reachability analysis is an important formal verification method for guaranteeing performance and safety properties of dynamical systems; it has been applied to many small-scale systems in the past decade. Its…
Surface electromyography (sEMG) is a widely used muscle activity monitoring technique. sEMG measures muscle activity through monopolar and bipolar, multi-electrode electrodes. The surface electrodes are placed on the surface of the skin…
Haptic feedback is essential for human-machine interaction, as it bridges physical and digital experiences and enables immersive engagement with virtual environments. However, current haptic devices are frequently tethered, lack portability…
Existing robotic lower-limb prostheses use autonomous control to address cyclic, locomotive tasks, but they are inadequate to operate the prosthesis for daily activities that are non-cyclic and unpredictable. To address this challenge, this…
This paper proposes a wearable-controlled mobile manipulator system for intelligent smart home assistance, integrating MEMS capacitive microphones, IMU sensors, vibration motors, and pressure feedback to enhance human-robot interaction. The…
Electromyography (EMG) has been explored as an HCI input modality following a long history of success for prosthesis control. While EMG has the potential to address a range of hands-free interaction needs, it has yet to be widely accepted…
The creation of unique control methods for a hand prosthesis is still a problem that has to be addressed. The best choice of a human-machine interface (HMI) that should be used to enable natural control is still a challenge. Surface…
The teleoperation of complex, kinematically redundant robots with loco-manipulation capabilities represents a challenge for human operators, who have to learn how to operate the many degrees of freedom of the robot to accomplish a desired…
Recently, haptic gloves have been extensively explored for various practical applications, such as manipulation learning. Previous glove devices have different force-driven systems, such as shape memory alloys, servo motors and pneumatic…
Telemanipulation of deformable objects requires high precision and dexterity from the users, which can be increased by kinesthetic and tactile feedback. However, the object shape can change dynamically, causing ambiguous perception of its…
Markerless Human Pose Estimation (HPE) proved its potential to support decision making and assessment in many fields of application. HPE is often preferred to traditional marker-based Motion Capture systems due to the ease of setup,…
We propose a dual-cable method of stabilizing the thumb in the context of a hand orthosis designed for individuals with upper extremity hemiparesis after stroke. This cable network adds opposition/reposition capabilities to the thumb, and…
One of the most frequent and severe aftermaths of a stroke is the loss of upper limb functionality. Therapy started in the sub-acute phase proved more effective, mainly when the patient participates actively. Recently, a novel set of…
Wearable robotics have the capacity to assist stroke survivors in assisting and rehabilitating hand function. Many devices that use surface electromyographic (sEMG) for control rely on extrinsic muscle signals, since sEMG sensors are…
This paper introduces a novel approach to interactive robots by leveraging the form-factor of cards to create thin robots equipped with vibrational capabilities for locomotion and haptic feedback. The system is composed of flat-shaped…
Wearable exoskeletons can augment human strength and reduce muscle fatigue during specific tasks. However, developing personalized and task-generalizable assistance algorithms remains a critical challenge. To address this, a meta-imitation…
Conventional scalp-based EEG systems are cumbersome to use, requiring extensive setup, restrictive wiring, and conductive gels that can dry out and limit long-term monitoring, while also carrying social stigma. As a result, there is…
There has been a long history in electrical muscle stimulation (EMS), which has been used for medical and interaction purposes. Human-computer interaction (HCI) researchers are now working on various applications, including virtual reality…
Frailty and functional decline strongly influence treatment tolerance and outcomes in older patients with cancer, yet assessment is typically limited to infrequent clinic visits. We propose a multimodal wearable framework to estimate…
Objective: Muscle contractions are commonly detected by performing EMG measurements. The major disadvantage of this technique is that mechanical disturbances to the electrodes are in the same frequency and magnitude range as the desired…