17 accepted papers
Over the last decades, significant research effort has been put into creating Electromyography (EMG) based controllers for intuitive, hands-free control of robotic arms and hands. To achieve this, machine learning models have been employed to decode human motion and intention using EMG signals as in…
Telemanipulation is widely used in robotics applications, ranging from maintenance of various industrial systems to search and rescue response in remote and/or hazardous environments. Human operators are often responsible for the control of such robotic systems. However, these remote interactions re…
Robots have predominantly been used in automating tasks in structured industrial environments, however, with the advances in technology they are starting to take part in roles in dynamic everyday life scenarios. As a result, the tasks executed by robotic systems will also grow in sophistication. Gra…
With an increasing use of robotic and bionic devices for the execution of everyday life, complex tasks, Electromyography (EMG) based interfaces are being explored as candidate technologies for facilitating an intuitive interaction with such devices. However, EMG-based interfaces typically require ap
For the development of muscle-machine interfaces (MuMIs), researchers have relied mainly on Electromyography (EMG) signals. However, these signals require complex hardware systems, as well as specialized signal processing and feature extraction methods. To overcome these issues, in our previous work…
As manufacturing trends shift towards customized production, the demand for agile automation systems capable of efficient adaptation to rapidly changing task requirements is rising. This work presents a flexible robotic assembly system that combines CAD based component localization, compliance contr
Flexible flat cables (FFC) are very popular for connecting different components in modern electronics (e.g., mobile phones, laptops, tablets, etc.). The manipulation of FFCs typically relies on highly trained workers that spend hours performing the same repetitive processes, or on autonomous robotic…
Electromyography (EMG) is a wearable, noninvasive, commonly used method for measuring the human muscular activations from the surface of the skin. In this work, we present a pilot study that focuses on the formulation of a shared control framework to facilitate the simplified execution of Electromyo…
With an increasing number of robotic and prosthetic devices, there is a need for intuitive interfaces which enable the user to efficiently interact with them. The conventional interfaces are generally bulky and unsuitable for dynamic and unstructured environments. An alternative to the traditional i…
Over the last decade, adaptive tendon driven devices have gained an increased interest from the research community for their lightweight, compact, and affordable design features attributed to the utilisation of underactuation, differential mechanisms, and structural compliance. Although adaptive ten…
The ongoing global healthcare crisis has amplified the need for automation of manual tasks in several industries and service sectors. Simple household tasks such as tidying and cleaning are in high demand, with only a few robotic platforms capable of performing them due to the mobility, workspace, a…
Over the last years, hand exoskeletons have become a popular and efficient technical solution for assisting people that suffer from neurological and musculoskeletal diseases and enhance the capabilities of healthy individuals. These devices can vary from rigid and complex structures to soft, lightwe…
Current trends in industrial automation favor agile systems that allow adaptation to rapidly changing task requirements and facilitate customized production in smaller batches. This work presents a flexible manufacturing system relying on compliance control, CAD based localization, and a multi-modal…
Electromyography (EMG) based interfaces have been used in various robotics studies ranging from teleoperation and telemanipulation applications to the EMG based control of prosthetic, assistive, or robotic rehabilitation devices. But most of these studies have focused on the decoding of user's motio…
Soft, lightweight, underactuated assistive gloves (exogloves) can be useful for enhancing the capabilities of a healthy individual or to assist the rehabilitation of patients who suffer from conditions that limit the mobility of their fingers. However, most solutions found in the literature do not o
The concept of teleoperation has been studied since the advent of robotics and has found use in a wide range of applications, including exploration of remote or dangerous environments (e.g., space missions, disaster management), telepresence based time optimisation (e.g., remote surgery) and robot l…
Manual palpation is commonly used to localize tumors and other features buried deep inside organs during open surgery. This approach is not feasible in minimally invasive or robotic surgery, as the contact with the tissue is mediated by instruments. To address this problem, we propose a soft robotic…