35 accepted papers
Large Reasoning Models (LRMs) have demonstrated remarkable capabilities in complex problem-solving through Chain-of-Thought (CoT) reasoning. However, the multi-step nature of CoT introduces new safety challenges that extend beyond conventional language model alignment. We identify a failure mode in…
Previous studies leveraging artificial neural networks have been used to investigate the semantic coding within human visual cortex. However, building an interpretable label-free framework that can effectively map brain responses to multiple coexisting semantic concepts remains largely unexplored. H
Lower-limb exoskeleton robots play a significant role in both rehabilitation and assisted walking, where accurate prediction of lower-limb joint angles is crucial for achieving natural gait. However, due to inter-subject variability and differences across locomotion modes, achieving cross-task gener…
Existing AI-generated image (AIGI) detectors perform well in-domain but degrade severely under distribution shift. We observe that this failure is mainly caused by content shortcuts, where detectors spuriously couple forgery artifacts with semantic content, such as object categories or demographic a
While passive agents merely follow instructions, proactive agents align with higher-level objectives, such as assistance and safety by continuously monitoring the environment to determine when and how to act. However, developing proactive agents is hindered by the lack of specialized resources. To a…
Human-exosuit adaptation is a bi-directional process: exosuit-to-human locomotion adaptation maximizes the benefits of exosuit assistance, while human-to-exosuit adaptation accelerates the wearer's access to these benefits. To promote bi-directional adaptation, we investigated precise gait phase pre
Crouch gait is one of the key characteristics of children with cerebral palsy, and early detection of gait changes is crucial for subsequent exoskeleton-assisted therapy. This study uses the Vicon 3D motion capture system to collect experimental data on four gait phases of children with cerebral pal
Self-balancing lower limb rehabilitation exoskeletons (SLLREs) allow individuals with lower limb dysfunction to walk without the use of crutches. Stable and human-like walking motions are crucial for SLLREs because achieving a close imitation of healthy human walking is a key goal in rehabilitation
By accurately recognizing the wearer’s motion, the underwater exoskeleton enables more efficient human-machine collaboration and provides enhanced assistance in complex and dynamic underwater environments. In this study, we propose a soft underwater exosuit motion mode recognizer based on a long sho
This paper presents the development of a multiple-input multiple-output (MIMO) coupling controller for the independent-setup variable stiffness actuator (VSA). The dynamic model of the independent-setup VSA is typically considered decoupled due to the slight coupling between the joint and stiffness
Underwater assistance is crucial for individuals who depend on diving for their livelihood. In this paper, we propose a novel underwater exosuit actuator designed to assist with flutter kicking during diving, thereby decreasing the effort the diver has to exert. The actuator can provide bidirectiona
In this paper, considering overall deformations of the exoskeleton, we couple deformations relationship network (DRN) with fractional order viscoelastic (FOV) controller, proposing a novel DRN-FOV closed-loop control method, endowing exoskeleton with stable dynamic walking ability. Simply by utilizi
Recently, convolutional neural networks (CNNs) have become the best quantitative encoding models for capturing neural activity and hierarchical structure in the ventral visual pathway. However, the weak interpretability of these black-box models hinders their ability to reveal visual representationa…
In this article, we introduce a lightweight lower limb exoskeleton that provides auxiliary torque to both the ankle and knee joints during the stance phase of gait in a real-world environment, using one quasi-direct-drive (QDD) motor .This lightweight exoskeleton incorporates a novel driving mechani
The sense of touch is essential for robots to perform various daily tasks. Artificial Neural Networks have shown significant promise in advancing robotic tactile learning. However, due to the changing of tactile data distribution as robots encounter new tasks, ANN-based robotic tactile learning suff…
Multi-stream signals are increasingly being used in robot-assisted rehabilitation training, where the timely and accurate prediction of a patient's motor intentions is frequently required to provide simultaneous and proportional control strategies. However, existing methods for motion intent predict
Magnetically actuated nanoparticle microrobots have great potential for biomedical applications, especially in blood vessels. However, they face a complex bifurcation environment, and magnetic control strategies targeting a single pathway limit the operational efficiency of the targeting task. In th
The loaded walking ability of people can be enhanced by lower limb exoskeleton. How to avoid lower limb joint injuries while improving walking efficiency is a major challenge for loaded walking assistance. Inspired by the muscle-skeleton working mechanism of human, we proposed a lower limb exoskelet
Lower-limb exoskeleton robots can support hemiplegic patients’ affected limbs and assist in their rehabilitation. In order to set effective control strategies, it is necessary to obtain the user’s motion intention accurately and timeously. These requirements pose many challenges. The surface electro
Data-parallel distributed training (DDT) has become the de-facto standard for accelerating the training of most deep learning tasks on massively parallel hardware. In the DDT paradigm, the communication overhead of gradient synchronization is the major efficiency bottleneck. A widely adopted approac…
Endovascular techniques have been increasingly adapted to medical applications as a minimally-invasive treatment approach to diagnose and treat various vascular diseases. Guidewires are the basic devices in endovascular surgery. The conventional practice of endovascular procedures has a number of dr
The work develops an insect-scale soft robot capable of fast directional locomotion actuated by itself spring-like body composed of shape memory alloy wires (SMAWs)-based composite. The soft composite is fabricated integrating polydimethylsiloxane (PDMS) matrix, 3D printed acrylonitrile-butadiene-st
Aiming at the problem that it is difficult to calculate the force of permanent magnets in the magnetic field, this paper proposes a nonlinear mechanical model of linear array magnetic field based on radial basis function neural network (RBFNN). Combined with the linear Halbach array adsorption modul…
Robotic dexterous operation is a long-term challenging problem. Although recent advances in robotic hand have successfully realized some complex operations, its high dexterity and high precision control are still challenges for robotic hands to replace the human hand. Here, this letter developed a t
Various morphologies and motions have been investigated extensively for robots on substrates or interfaces. However, the locomotion of modular robots in 3D free spaces remains challenging owing to zero dependence on boundaries, in particular at small scales. Here we propose simply modularized miniat
In the context of robotic high-precision soldering, we propose an image-based pin alignment control method based on active plastic deformation. The plastic deformation is a well-known failure mechanism in most situations, which includes a phenomenon that the objects do not return original state. Her…
In this paper, we focus on the multiple-waveform design for the joint multiple-input multiple-output radar and communications system, which aims to simultaneously attain low integrated sidelobe level (ISL) of waveforms and accurate fast-time modulation for information embedding (IE). We propose a no…
The problem of human-exoskeleton interaction with uncertain dynamical parameters remains an open-ended research area. It requires an elaborate control strategy design of the exoskeleton to accommodate complex and unpredictable human body movements. In this paper, we proposed a novel control approach…
Untethered, wirelessly controlled microrobots have a broad application prospect from industrial area, to the bioengineering due to their small scales. In a narrow environment containing viscous resistance and friction fluid, rigid body may damage the micro-objects that the microrobots manipulate. In
Predict, and Plan: Safe Motion Planning Through Interpretable Semantic Representations","In this paper we propose a novel end-to-end learnable network that performs joint perception, prediction and motion planning for self-driving vehicles and produces interpretable intermediate representations. Unl…
One of the fundamental challenges to scale self-driving is being able to create accurate high definition maps (HD maps) with low cost. Current attempts to automate this pro- cess typically focus on simple scenarios, estimate independent maps per frame or do not have the level of precision required b…
Soft swimming microrobots that can be powered and guided remotely by magnetic field show greater potential for numerous applications than traditional rigid counterparts, due to their soft and flexible architectures. However, main challenges in closed-loop control remain to be overcome for the soft r
Magnetically actuated microswimmers have shown great potentials in multiple application scenarios, attracting researchers to investigate their swimming characteristics and controlling methods. However, among those studies, only a small number of closed-loop control schemes have been applied, which i…
Microrobots show great potential to realize a wide range of medical applications especially in a hard-to-reach region within human body. Among a diversity of medical applications, the microrobots are expected to efficiently perform tasks within the human body, but the existing electromagnetic coil s…
This paper propose a practical and effective method for identifying the complete inertia parameters of a space robotic system. The key is the following steps: equivalent single-body identification, and equivalent two-body identification. For the former, all joints are locked into a normal configurat…