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Existing brain-computer interface (BCI) control of highly dexterous robotic manipulators and prosthetic devices typically rely solely on neural decode algorithms to determine the user's intended motion. Although these approaches have made significant progress in the ability to control high degree of freedom (DOF) manipulators, the ability to perform activities of daily living (ADL) is still an ongoing...
The ability of robotic systems to effectively address disaster scenarios that are potentially dangerous for human operators is continuing to grow as a research and development field. This leverages research from areas such as bimanual manipulation, dexterous grasping, bipedal locomotion, computer vision, sensing, object segmentation, varying degrees of autonomy, and operator control/feedback. This...
With the loss of function of an upper extremity because of stroke or spinal cord injury or a physical loss from amputation, an individual's life is forever changed, and activities that were once routine become a magnitude more difficult. Much research and effort have been put into developing advanced robotic prostheses to restore upper extremity function. For patients with upper extremity amputations,...
This paper presents the experimental validation of software-based safety features implemented during the control of a prosthetic limb in self-feeding tasks with a human patient. To ensure safe operation during patient controlled movements of the limb, velocity-based virtual fixtures are constructed with respect to the patient's location and orientation relative to the limb. These imposed virtual fixtures...
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