Irfan Hussain — accepted AI-conference papers

2023

Vision-Based Autonomous Navigation for Unmanned Surface Vessel in Extreme Marine Conditions

Muhayyuddin Ahmed, Ahsan Baidar Bakht, Taimur Hassan, Waseem Akram, Ahmed Humais, Lakmal Seneviratne +3

IROS 2023poster

Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to identify the target for navigation. Reduced visibility under ex…

Cited by 14 Source ↗code ↗Scholar ↗

2022

Novel Supernumerary Robotic Limb based on Variable Stiffness Actuators for Hemiplegic Patients Assistance

Basma B. Hasanen, Mohammad I. Awad, Mohamed N. Boushaki, Zhenwei Niu, Mohammed A. Ramadan, Irfan Hussain

IROS 2022poster

Loss of upper extremity motor control and function is an unremitting symptom in post-stroke patients. This would impose hardships on accomplishing their daily life activities. Supernumerary robotic limbs (SRLs) were introduced as a solution to regain the lost Degrees of Freedom (DoFs) by introducing…

Cited by 6 Source ↗Scholar ↗

2022

Towards Safe Physical Human-Robot Interaction by Exploring the Rapid Stiffness Switching Feature of Discrete Variable Stiffness Actuation

Zhenwei Niu, Mohammad I. Awad, Umer Hameed Shah, Mohamed Nassim Boushaki, Yahya H. Zweiri, Lakmal D. Seneviratne +1

RA-L 2022

Safety holds the prime importance in direct physical human-robot interaction (pHRI) tasks. Robots should have the ability to handle unexpected collisions in unstructured environments. Collision avoidance based on exteroceptive sensors can work in these scenarios. However, it may not be sufficient, e

Cited by 13 Source ↗Scholar ↗

2019

Design, Modeling and Testing of a Flagellum-inspired Soft Underwater Propeller Exploiting Passive Elasticity

Marcello Calisti, Francesco Giorgio-Serchi, Cesare Stefanini, Madiha Farman, Irfan Hussain, Costanza Armanini +3

IROS 2019poster

Flagellated micro-organism are regarded as excellent swimmers within their size scales. This, along with the simplicity of their actuation and the richness of their dynamics makes them a valuable source of inspiration to design continuum, self-propelled underwater robots. Here we introduce a soft, f…

Cited by 5 Source ↗Scholar ↗

2018

Modeling and Prototyping of an Underactuated Gripper Exploiting Joint Compliance and Modularity

Irfan Hussain, Federico Renda, Zubair Iqbal, Monica Malvezzi, Gionata Salvietti, Lakmal D. Seneviratne +2

RA-L 2018

In this study, we present an efficient mathematical representation of soft robotic fingers based on screw theory. Then, we show how the model and its main properties can be exploited in the design phase, and we present an application for an underactuated tendon-driven gripper with a modular structur

Cited by 44 Source ↗Scholar ↗

2018

The hBracelet: A Wearable Haptic Device for the Distributed Mechanotactile Stimulation of the Upper Limb

Leonardo Meli, Irfan Hussain, Mirko Aurilio, Monica Malvezzi, Marcia K. O'Malley, Domenico Prattichizzo

RA-L 2018

Haptic interfaces are mechatronic devices designed to render tactile sensations; although they are typically based on robotic manipulators external to the human body, recently, interesting wearable solutions have been presented. Toward a more realistic feeling of virtual and remote environment inter

Cited by 60 Source ↗Scholar ↗

2017

Design of the Passive Joints of Underactuated Modular Soft Hands for Fingertip Trajectory Tracking

Gionata Salvietti, Irfan Hussain, Monica Malvezzi, Domenico Prattichizzo

RA-L 2017

In this letter, we propose a method to design tendon-driven underactuated hands whose fingertips can track a predefined trajectory, when actuated. We focus on passively compliant hands composed of deformable joints and rigid links. We first introduce a procedure to determine suitable joints stiffnes

Cited by 46 Source ↗Scholar ↗

2017

On the role of stiffness design for fingertip trajectories of underactuated modular soft hands

Irfan Hussain, Gionata Salvietti, Monica Malvezzi, Domenico Prattichizzo

ICRA 2017poster

In this work, we propose a method to compute the stiffness of flexible joints and its realization in order to let the fingers track a certain predefined trajectory. We refer to tendon-driven, underactuated and passively compliant hands composed of deformable joints and rigid links. Specific stiffnes…

Cited by 19 Source ↗Scholar ↗

2016

The Soft-SixthFinger: a Wearable EMG Controlled Robotic Extra-Finger for Grasp Compensation in Chronic Stroke Patients

Irfan Hussain, Gionata Salvietti, Giovanni Spagnoletti, Domenico Prattichizzo

RA-L 2016

This letter presents the Soft-SixthFinger, a wearable robotic extra-finger designed to be used by chronic stroke patients to compensate for the missing hand function of their paretic limb. The extra-finger is an underactuated modular structure worn on the paretic forearm by means of an elastic band.

Cited by 104 Source ↗Scholar ↗