相关论文: EMG-Driven Stiffness-Modulating Palpation for Tele…
Upper-extremity amputees who use myoelectric prostheses currently lack the haptic sensory information needed to perform dexterous activities of daily living. While considerable research has focused on restoring this haptic information,…
While on-body device-based human motion estimation is crucial for applications such as XR interaction, existing methods often suffer from poor wearability, expensive hardware, and cumbersome calibration, which hinder their adoption in daily…
Nearly one million total hip and knee arthroplasties (THA/TKA) are performed annually in the United States, with most patients discharged home and prescribed home exercise programs (HEPs) to enhance lower extremity function. Traditional…
Chronic Obstructive Pulmonary Disease (COPD) can be fatal and is challenging to live with due to its severe symptoms. Pulmonary rehabilitation (PR) is one of the managements means to maintain COPD in a stable status. However, implementation…
We present a customizable soft haptic system that integrates modular hardware with an information-theoretic algorithm to personalize feedback for different users and tasks. Our platform features modular, multi-degree-of-freedom pneumatic…
In-hand dexterous telemanipulation requires not only precise remote motion control of the robot but also effective haptic feedback to the human operator to ensure stable and intuitive interactions between them. Most existing haptic devices…
One of the main causes of long-term prosthetic abandonment is the lack of ownership over the prosthesis, caused mainly by the absence of sensory information regarding the lost limb. One strategy to overcome this problem is to provide…
In the developing countries, most of the Manual Material Handling (MMH) related tasks are labor-intensive. It is not possible for these countries to assess injuries during lifting heavy weight, as multi-camera motion capture, force plate…
Low-back pain (LBP) is a widespread disease which can also be highly disabling, but physicians lack of basic understanding and diagnosis tools. During this study, we have designed and built a new wearable device capable of detecting…
The ability to estimate 3D human body pose and movement, also known as human pose estimation (HPE), enables many applications for home-based health monitoring, such as remote rehabilitation training. Several possible solutions have emerged…
We present a neuromorphic radar framework for real-time, low-power hand gesture recognition (HGR) using an event-driven architecture inspired by biological sensing. Our system comprises a 24 GHz Doppler radar front-end and a custom…
The intrinsic biomechanical characteristic of the human upper limb plays a central role in absorbing the interactive energy during physical human-robot interaction (pHRI). We have recently shown that based on the concept of ``Excess of…
LinkRing is a novel wearable tactile display for providing multi-contact and multi-modal stimuli at the finger. The system of two five-bar linkage mechanisms is designed to operate with two independent contact points, which combined can…
Hamilton-Jacobi (HJ) reachability analysis is an important formal verification method for guaranteeing performance and safety properties of dynamical control systems. Its advantages include compatibility with general nonlinear system…
This paper presents ReGlove, a system that converts low-cost commercial pneumatic rehabilitation gloves into vision-guided assistive orthoses. Chronic upper-limb impairment affects millions worldwide, yet existing assistive technologies…
This paper presents the development of a new passive assistive handwriting device, which aims to stabilize the motion of people living with movement disorders. Many people living with conditions such as cerebral palsy, stroke, muscular…
This paper presents the design, characterization and validation of a wearable haptic device able to convey skin stretch, force feedback, and a combination of both, to the user's arm. In this work, we carried out physical and perceptual…
Portable active back support devices (BSDs) offer tunable assistance but are often bulky and heavy, limiting their usability. In contrast, passive BSDs are lightweight and compact but lack the ability to adapt their assistance to different…
While vibration is a well-used output signal in HCI as part of haptic interaction, vibration outside HCI is used in many other modes to support human performance, from rehabilitation to cognition. In this late breaking work, we present…
Human-machine interaction is gaining traction in rehabilitation tasks, such as controlling prosthetic hands or robotic arms. Gesture recognition exploiting surface electromyographic (sEMG) signals is one of the most promising approaches,…