19 accepted papers
Lower-limb exoskeletons have the potential to enhance mobility and reduce the metabolic cost of walking,while conventional control strategies often lack adaptability and require labor-intensive tuning. Recent advances in reinforcement learning (RL) provide new opportunities for generating efficient …
We introduce Euler–Poincaré Neural Dynamics (EPND), a geometric-mechanics–driven framework that redefines how Koopman-type neural models learn dynamical systems. Unlike conventional operator-learning methods that rely on function-space linearization, EPND places geometric mechanics at the core of it…
We present a Lie-algebraic approach to model Koopman dynamics that integrates algebraic structure with computational scalability. The proposed formulation constrains the neural generators to evolve within prescribed Lie subalgebras and constructs finite-time flows through a neural Magnus expansion c…
Lower limb exoskeletons assist users by supporting joint movements. Since joint motion patterns vary depending on how the user moves, accurately recognizing the type of movement (locomotion mode) is crucial for controlling the exoskeleton and ensuring user safety. Inspired by how humans use multiple…
Modern robotic systems increasingly employ nonlinear coupled joints, which present significant challenges in control. Unlike traditional serial chain configurations, where simplicity was the primary concern, parallel mechanisms such as those found in humanoid ankle joints add another layer of comple…
Recent robot task planners utilize large language models (LLMs) or vision-language models (VLMs) as a failure detector. These methods perform well by leveraging their semantic reasoning capabilities but often assume full understanding, which can lead to unreliable planning in complex scenes lacking …
Recent robot task planners utilize large language models (LLMs) or vision-language models (VLMs) as a failure detector. These methods perform well by leveraging their semantic reasoning capabilities but often assume full environment understanding, which can lead to unreliable planning in complex sce
Lower limb exoskeletons assist users by supporting joint movements. Since joint motion patterns vary depending on how the user moves, accurately recognizing the type of movement (locomotion mode) is crucial for controlling the exoskeleton and ensuring user safety. Inspired by how humans use multiple
This paper addresses the problem of choosing a sparse subset of measurements for quick calibration parameter estimation. A standard solution to this is selecting a measurement only if its utility—the difference between posterior (with the measurement) and prior information (without the measurement)—…
The demand for autonomous nasopharyngeal swab sampling robot systems is increasing owing to the recent outbreak of the respiratory virus pandemic. To protect the medical staff from infection, automatic upper respiratory sample collecting robotic systems are needed. The nasopharyngeal swab sampling r
We present a method of extrinsic calibration for a system of multiple inertial measurement units (IMUs) that estimates the relative pose of each IMU on a rigid body using only measurements from the IMUs themselves, without the need to prescribe the trajectory. Our method is based on solving a nonlin
Recent directions for offensive language detection are hierarchical modeling, identifying the type and the target of offensive language, and interpretability with offensive span annotation and prediction. These improvements are focused on English and do not transfer well to other languages because o…
In this study, we present a visual servo control framework for fully automated nasopharyngeal swab robots. The proposed framework incorporates a deep learning-based nostril detection with a cascade approach to reliably identify the nostrils with high accuracy in real time. In addition, a partitioned…
Recent approaches to Open-domain Question Answering refer to an external knowledge base using a retriever model, optionally rerank passages with a separate reranker model and generate an answer using another reader model. Despite performing related tasks, the models have separate parameters and are…
We introduce Korean Language Understanding Evaluation (KLUE) benchmark. KLUE is a collection of eight Korean natural language understanding (NLU) tasks, including Topic Classification, Semantic Textual Similarity, Natural LanguageInference, Named Entity Recognition, Relation Extraction, Dependency P…
This paper presents an adjustable knee joint for a wearable robot for the elderly, to provide physical gait assistance. In order to compensate for the translational and rotational movements of the knee in the sagittal plane as well as aligning the frontal plane, the proposed knee joint is implemente…
We developed a robotic lower-limb exoskeleton for those who have weakened muscle due to aging and experience difficulty in walking or getting up without help. The exoskeleton covering both limbs from the feet to the waist has 6 electric actuators in the hip abduction/adduction, hip extension/flexion…
This paper proposes a new concept called “a flexible exoskeleton” and presents the design of a wearable walking assistance device to provide physical gait assistance for the elderly. To overcome some limitations of previous wearable walking assistance devices, 3 novel mechanisms are proposed: 1) fle…
This paper presents an adjustable knee mechanism for walking assistance devices for the elderly to provide physical gait assistance. The adjustable knee mechanism can assist in flexion/extension motions of the knee joint and compensate for the transitional movements of the knee in the sagittal plane…