13 accepted papers
This study introduces a novel approach to swarm leader identification (SLI) in multi-agent robot systems by employing a physical adversary interacting with the swarm in the same environment. We develop a new simulation environment to study the SLI problem and train an adversary, which we term the pr
We present a control framework specifically for physical human-humanoid collaboration involving the transportation and manipulation of heavy objects. Using this framework, the humanoid can exhibit desired levels of compliance with the object to be co-transported. This desired compliance is achieved
Human gait is quite complex, especially when considering the irregular and uncertain environments that humans are able to walk in. While unperturbed gait in a controlled environment is understood to a large degree, gait in more unique environments, such as asymmetric compliant terrain, is not unders…
Despite significant advances in the design of robotic lower-limb prostheses for individuals with impaired mobility, there is a need for further progress in improving the robustness, safety, and stability of these devices in a wide range of activities of daily living. Although powered prostheses have…
Substantial research and development on the design and control of robotic ankle-foot prostheses have aimed to restore normal function and movement capacity for people with gait impairments and lower limb amputations. However, prostheses controllers usually fail to incorporate information pertaining…
Due to hemiparesis, stroke survivors frequently develop a dysfunctional gait that is often characterized by an overall decrease in walking speed and a unilateral decrease in step length. With millions currently affected by this dys-functional gait, robust and effective rehabilitation protocols are n…
With over 10 million people currently suffering from significant long-term gait disability in the United States only, robot-assisted rehabilitation and wearable devices are increasingly gaining attention as a mean to regain functional mobility. Since these devices work collaborative and synchronousl…
The role of various types of robot assistance in post-stroke gait rehabilitation has gained much attention in recent years. Furthermore, there is increased popularity to use more than one rehabilitation method in order to utilize the different advantages of each. Naturally, this results in the need…
The purpose of this work is to optimize the stiffness of a novel parallel-actuated robotic exoskeleton designed to offer a large workspace. This is done in an effort to help provide a solution to the issue wearable parallel actuated robots face regarding a tradeoff between stiffness and workspace. P…
Human Swarm Interaction (HSI) is a new field which relates to the effective control of robotic swarms by human operators. The iterature has shown that the control of swarms can become quite complicated. On the other hand, Brain Machine Interfaces (BMI) can offer intuitive control in a plethora of ap…
Robotic devices have been used in a variety of rehabilitation protocols, including gait rehabilitation after stroke. However, robotic intervention in gait therapy has only produced moderate results compared to conventional physiotherapy. We suggest a novel approach to robotic interventions which tak…
As the expansion of the field of robotics has continued, the physical interaction between robots and humans has become an increasingly important area of study. Many of these physical interactions can be seen as a cooperative task conducted by both the robot and the human. Often, when two humans are…
Myoelectric control has seen decades of research as a potential interface between human and machines. High-density surface electromyography (HDsEMG) non-invasively provides a rich set of signals representing underlying muscle contractions and, at a higher level, human motion intent. Many pattern rec…