15 accepted papers
With the increasing integration of cyber-physical systems (CPS) into critical applications, ensuring their resilience against cyberattacks is paramount. A particularly concerning threat is the vulnerability of CPS to deceptive attacks that degrade system performance while remaining undetected. This …
This paper investigates the vulnerability of bilat-eral teleoperation systems to perfectly undetectable False Data Injection Attacks (FDIAs). Teleoperation, one of the major applications in robotics, involves a leader manipulator operated by a human and a follower manipulator at a remote site, conne
This letter demonstrates the viability of perfectly undetectable affine transformation attacks against robotic manipulators where intelligent attackers can inject multiplicative and additive false data while remaining completely hidden from system users. The attacker can implement these communicatio
Robotic devices that interact with humans at the hands through haptic communication - instead of mechanical power transmission – represent an intuitive way to assist persons with physical disabilities and teach movement skills. Principles of human-human haptic communication during walking cou
System identification of a dynamic environment using a robotic device utilizes physical perturbations in the form of displacement or force. To obtain an accurate system model, physical perturbations must be informative, which can be characterized by their spectral properties. The process of generati
Camera systems in fast motion suffer from the effects of motion blur, which degrades image quality and can have a large impact on the performance of visual tasks. The degradation in image quality can be mitigated through the use of image reconstruction. Blur effects and the resulting reconstruction
Capturing clear images while a camera is moving fast, is integral to the development of mobile robots that can respond quickly and effectively to visual stimuli. This paper proposes to generate camera trajectories, with position and time constraints, that result in higher reconstructed image quality…
Capturing clear images while a camera is moving fast, is integral to the development of mobile robots that can respond quickly and effectively to visual stimuli. This paper proposes to generate camera trajectories, with position and time constraints, that result in higher reconstructed image quality
Search-and-rescue (SAR) robots operating in post-disaster urban areas need to accurately identify physical site information to perform navigation, mapping and manipulation tasks. This can be achieved by acquiring a 3D point cloud of the environment and performing object recognition from the point cl…
The goal of this research is to develop a lower-extremity wearable link mechanism (i.e., exoskeleton robot) that is capable of reducing load against targeted body parts such as bones, joints and muscles, for shock absorption that help to support exploration of extreme environments. One of the applic…
Human-robot interaction faces the challenge of designing and modeling tightly coupled and effectively controlled human-machine systems. This letter describes a method to learn human operator's performance characteristics from surface electromyography measurements to predict their intentions during t
This paper presents a method to generate discrete switching commands for a camera orientation system exhibiting quantization and flexibility to achieve smooth-pursuit like movements. Existing vibration suppression techniques and camera positioning devices have shown notable results but focused only
Pneumatic actuation has gained popularity in robotics, for its low maintenance, high efficiency and compactness. A recent direction is to build pneumatically driven non-magnetic platforms for robotic rehabilitation monitored by magnetic resonance imaging (MRI). Control of such systems is challenging
In this paper, the timing accuracy of a tapping motion is analyzed for a robotic neuromodulatory rehabilitation system (RNRS). Paired associative stimulation (PAS) refers to repetitive application of conditioned transcranial magnetic stimulation (TMS) with peripheral stimulation at appropriate inter
This paper proposes a method for real-time de-blurring of images captured by a robotic system. De-blurring is achieved by combining a dynamics-based approach and parallel computing. Existing methods have successfully restored a blurry image but were not suitable for real-time applications. The dynam…