13 accepted papers
Learning from Demonstration (LfD) empowers novice users to teach robots daily life tasks without writing sophisticated code, thereby promoting the democratization of robotics. However, novice users often provide sub-optimal demonstrations, which can potentially impact the robot’s ability to efficien…
Teleoperation is increasingly recognized as a viable solution for deploying robots in hazardous environments. Controlling a robot to perform a complex or demanding task may overload operators resulting in poor performance. To design a robot controller to assist the human in executing such challengin
Neural growth is the process of growing a small neural network to a large network and has been utilized to accelerate the training of deep neural networks. One crucial aspect of neural growth is determining the optimal growth timing. However, few studies investigate this systematically. Our study re…
Human-prosthetic interfaces require their settings to be tuned to individual users. This can potentially be done autonomously while the prosthesis user performs a task by using online personalisation algorithms. These online personalisation algorithms adjust the interface parameters to optimise a gi
The manuscript “Tactile-based Blind Grasping: A Discrete-Time Object Manipulation Controller for Robotic Hands” contains results that are dependent on two references. Since publication, we realized that one of these references has inconsistent results regarding continuity of quadratic programs. The
The thumb of a natural hand or a prosthetic hand plays a significant role in realizing a hand's grasping and manipulation activities. This requires that mechanical design of a prosthetic hand should allow its thumb to perform both abduction/adduction and flexion/extension in order to mimic a natural
This letter presents a force observer that estimates the external interaction forces from the measured joint position and joint actuation for a class of robotic manipulators. This is done without an explicit (physical) force or torque sensor, through an extended state observer (ESO) assuming a known
The potential of multi-degrees-of-freedom (DOFs) local magnetic actuation (LMA) has been established in recent years for dexterous minimally invasive surgical manipulations. Nonetheless, having multiple magnetic based units, one for each DOF, within a close vicinity to each other leads to magnetic f
Robust object manipulation using a robotic hand remains a challenging task, especially when a priori knowledge of the object being manipulated is not available. Tactile-based blind grasping is hereby defined where only typical sensors on-board the robotic hand unit are available. In this letter, we
In rehabilitation for neurological injuries, gravity compensation or deweighting of the upper limb is often performed, as it allows patients with limited muscle activities to realize movements. Deweighting cancels the gravitational effect of the human arm allowing the available muscle forces to prod
The study of cable-driven parallel robots (CDPRs) has attracted much attention in recent years. However, to the best of the authors' knowledge, no single software platform exists for researchers to perform different types of analyses for CDPRs of arbitrary structure. In this paper, the Cable-robot A…
The manipulation of objects is an inherent capability of dexterous human hands. However, state-of-the-art prostheses are limited to only forming grasps and gestures due to the low information transfer rate in the human-machine interface. Additionally, in the prosthetic setting the hand is not privy…