相关论文: Helical Tendon-Driven Continuum Robot with Program…

Continual reinforcement learning (CRL) requires agents to learn from a sequence of tasks without forgetting previously acquired policies. In this work, we introduce a novel benchmark suite for CRL based on realistically simulated robots in…

Tendon-driven robots, a type of continuum robot, have the potential to reduce the invasiveness of surgery by enabling access to difficult-to-reach anatomical targets. In the future, the automation of surgical tasks for these robots may help…

Focused ultrasound (FUS) therapy is a promising tool for optimally targeted treatment of spinal cord injuries (SCI), offering submillimeter precision to enhance blood flow at injury sites while minimizing impact on surrounding tissues.…

The brain stimulation and its widespread use is one of the most important subjects in studies of neurophysiology. In brain electrical stimulation methods, following the surgery and electrode implantation, electrodes send electrical impulses…

This paper presents the design of a small aerial robot for inhabited microgravity environments, such as orbiting space stations (e.g., ISS). In particular, we target a fleet of robots, called Space CoBots, for collaborative tasks with…

Hybrid assistive systems that integrate functional electrical stimulation (FES) and robotic exoskeletons offer a promising approach for neurorehabilitation. However, control of these systems remains challenging due to actuator redundancy…

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…

The Synthetic Nervous System (SNS) is a biologically inspired neural network (NN). Due to its capability of capturing complex mechanisms underlying neural computation, an SNS model is a candidate for building compact and interpretable NN…

Transcranial magnetic stimulation (TMS) is a popular method for the noninvasive stimulation of neurons in the brain. It has become a standard instrument in experimental brain research and is approved for a range of diagnostic and…

Functional Electrical Stimulation (FES) is a technique to evoke muscle contraction through low-energy electrical signals. FES can animate paralysed limbs. Yet, an open challenge remains on how to apply FES to achieve desired movements. This…

Spintronic devices have been widely studied for the hardware realization of artificial neurons. The stochastic switching of magnetic tunnel junction driven by the spin torque is commonly used to produce the sigmoid activation function.…

Parallel robots provide the potential to be leveraged for human-robot collaboration (HRC) due to low collision energies even at high speeds resulting from their reduced moving masses. However, the risk of unintended contact with the leg…

Spinal cord injuries generally result in sensory and mobility impairments, with torso instability being particularly debilitating. Existing torso stabilisers are often rigid and restrictive. We present an early investigation into a…

The main objective of this paper is to provide a tool for performing path planning at the servo level of a mobile robot. The ability to perform, in a provably correct manner, such a complex task at the servo level can lead to a large…

This paper introduces a novel variable stiffness mechanism termed Helically Wound Structured Electrostatic Layer Jamming (HWS-ELJ) and systematically investigates its potential applications in variable stiffness robotic finger design. The…

Back-support exoskeletons (BSEs) mitigate musculoskeletal strain, yet their efficacy depends on precise, context-aware modulation. This paper introduces a user-centric optimization framework and a vision-based adaptive control strategy for…

This paper explores the concept of external magnetic control for vine robots to enable their high curvature steering and navigation for use in endoluminal applications. Vine robots, inspired by natural growth and locomotion strategies,…

Helical propulsion is used by many microorganisms to swim in viscous-dominated environments. Their swimming dynamics are relatively well understood, but detailed study of the flow fields and actuation mechanisms are still needed to realize…

A spherical robot consists of an externally spherical rigid body rolling on a two-dimensional surface, actuated by an auxiliary mechanism. For a class of actuation mechanisms, we derive a controller for the geometric center of the sphere to…

Integrating Brain-Machine Interfaces into non-clinical applications like robot motion control remains difficult - despite remarkable advancements in clinical settings. Specifically, EEG-based motor imagery systems are still error-prone,…