相关论文: A real-time full-chain wearable sensor-based muscu…
Modeling and control of the human musculoskeletal system is important for understanding human motor functions, developing embodied intelligence, and optimizing human-robot interaction systems. However, current human musculoskeletal models…
This paper presents an upgraded, real world application oriented version of gym-gazebo, the Robot Operating System (ROS) and Gazebo based Reinforcement Learning (RL) toolkit, which complies with OpenAI Gym. The content discusses the new ROS…
This paper is the first to introduce the idea of using reconfigurable intelligent surfaces (RISs) as passive devices that measure the position and orientation of certain human body parts over time. In this paper, we investigate the…
This document introduces the bridge between the leading inertial motion-capture systems for 3D human tracking and the most used robotics software framework. 3D kinematic data provided by Xsens are translated into ROS messages to make them…
Exoskeletons and orthoses are wearable mobile systems providing mechanical benefits to the users. Despite significant improvements in the last decades, the technology is not fully mature to be adopted for strenuous and non-programmed tasks.…
Soft wearable robots are a promising new design paradigm for rehabilitation and active assistance applications. Their compliant nature makes them ideal for complex joints like the shoulder, but intuitive control of these robots require…
Existing digital human models approximate the human skeletal system using rigid bodies connected by rotational joints. While the simplification is considered acceptable for legs and arms, it significantly lacks fidelity to model rich torso…
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…
The upper limb robotic exoskeleton is an electromechanical device which use to recover a patients motor dysfunction in the rehabilitation field. It can provide repetitive, comprehensive, focused, positive, and precise training to regain the…
Designing an exoskeleton to reduce the risk of low-back injury during lifting is challenging. Computational models of the human-robot system coupled with predictive movement simulations can help to simplify this design process. Here, we…
This paper presents the development of a wearable ankle rehabilitation robot based on a 3-RRR spherical parallel mechanism (SPM) to support multi-DOF recovery through pitch, roll, and yaw motions. The system features a compact, ergonomic…
Wearable biosensors can enable continuous human data capture, facilitating development of real-world Human-Robot Interaction (HRI) systems. However, a lack of standardized libraries and implementations adds extraneous complexity to HRI…
Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating…
Robotic-assisted medical systems (RAMS) have gained significant attention for their advantages in alleviating surgeons' fatigue and improving patients' outcomes. These systems comprise a range of human-computer interactions, including…
Exploring the intricate dynamics between muscular and skeletal structures is pivotal for understanding human motion. This domain presents substantial challenges, primarily attributed to the intensive resources required for acquiring ground…
The complex ways in which humans utilize their bodies in sports and martial arts are remarkable, and human motion analysis is one of the most effective tools for robot body design and control. On the other hand, motion analysis is not easy,…
The increase in world elderly population has significantly underlined the need for continuous health care measurement, specifically in rehabilitation monitoring. The new technologies has enabled people to have in home healthcare services,…
Work-related upper extremity musculoskeletal disorders (WRUED) are a major problem in modern societies as they affect the quality of life of workers and lead to absenteeism and productivity loss. According to studies performed in North…
Research on sixth-generation (6G) integrated sensing and communication (ISAC) increasingly depends on multimodal datasets. These datasets need to jointly characterize wireless propagation, onboard sensing, and platform mobility. Existing…
In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of…