相关论文: A Hybrid Model-based and Data-based Approach Devel…
The coupling of human movement dynamics with the function and design of wearable assistive devices is vital to better understand the interaction between the two. Advanced neuromuscular models and optimal control formulations provide the…
Soft robotic hands and grippers are increasingly attracting attention as a robotic end-effector. Compared with rigid counterparts, they are safer for human-robot and environment-robot interactions, easier to control, lower cost and weight,…
The flexible musculoskeletal hand is difficult to modelize, and its model can change constantly due to deterioration over time, irreproducibility of initialization, etc. Also, for object recognition, contact detection, and contact control…
For lower arm amputees, prosthetic hands promise to restore most of physical interaction capabilities. This requires to accurately predict hand gestures capable of grabbing varying objects and execute them timely as intended by the user.…
In this article, the control problem of one section pneumatically actuated soft robotic arm is investigated in detail. To date, extensive prior work has been done in soft robotics kinematics and dynamics modeling. Proper controller designs…
This paper presents the application of a learning control approach for the realization of a fast and reliable pick-and-place application with a spherical soft robotic arm. The arm is characterized by a lightweight design and exhibits…
High-precision displacement control for water-hydraulic artificial muscles is a challenging issue due to its strong hysteresis characteristics that is hard to be modelled precisely, and many control methods have been proposed. Recently,…
The standard engineering approach when facing uncertainty is modelling. Mixing data from a well-calibrated model with real recordings has led to breakthroughs in many applications of AI, from computer vision to autonomous driving. This type…
Impedance-based control represents a prevalent strategy in the powered trans femoral prostheses because of its ability to reproduce natural walking. However, most existing studies have developed impedance-based prosthesis controllers for…
Force control is essential for medical robots when touching and contacting the patient's body. To increase the stability and efficiency in force control, an Adaption Module could be used to adjust the parameters for different contact…
State-of-the-art robotic hand prosthetics generate finger and wrist movement through pattern recognition (PR) algorithms using features of forearm electromyogram (EMG) signals, but re- quires extensive training and is prone to poor…
This paper presents a numerical method to conceive and design the kinematic model of an anthropomorphic robotic hand used for gesturing and grasping. In literature, there are few numerical methods for the finger placement of human-inspired…
Parallel robots based on Handed Shearing Auxetics (HSAs) can implement complex motions using standard electric motors while maintaining the complete softness of the structure, thanks to specifically designed architected metamaterials.…
Convolutional neural network (CNN) has been widely exploited for simultaneous and proportional myoelectric control due to its capability of deriving informative, representative and transferable features from surface electromyography (sEMG).…
Although many studies suggest high performance hand detection methods, those methods are likely to be overfitting. Fortunately, the Convolution Neural Network (CNN) based approach provides a better way that is less sensitive to translation…
This paper builds on our previous work by exploiting Artificial Intelligence to predict individual grip force variability in manual robot control. Grip forces were recorded from various loci in the dominant and non dominant hands of…
Tendon-driven hand orthoses have advantages over exoskeletons with respect to wearability and safety because of their low-profile design and ability to fit a range of patients without requiring custom joint alignment. However, no existing…
Reliable robotic manipulation requires control policies that can accurately represent and adapt to uncertainty arising from contact-rich interactions. Modern data-driven methods mitigate uncertainty through large-scale training and…
The goal of this project is to create an inexpensive, lightweight, wearable assistive device that can measure hand or finger movements accurately enough to identify a range of hand gestures. One eventual application is to provide assistive…
We consider the task of object grasping with a prosthetic hand capable of multiple grasp types. In this setting, communicating the intended grasp type often requires a high user cognitive load which can be reduced adopting shared autonomy…