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The role of emotions in social scenarios is to provide an inherent mode of communication between two parties. When emotions are properly employed and understood, people are able to respond appropriately, which further enhances the social interaction. Ultimately, effective emotion execution in social settings has the capability to build rapport, improve engagement, optimize learning, provide comfort,...
we describe a novel robotic neck mechanism that supports realistic human head motion. Our design uses a 3-DOF spherical neck inspired by the 2-DOF spherical wrist of the Orthoglide 5-axis industrial robot. We use a gimbal-like mechanism to combine three 1-DOF motion components to rotate the head about a common point and around the three principal axes. Based on this design, we implemented and compared...
This paper presents a physical human-robot interaction (pHRI) interface, which enables the user to control a walking humanoid robot through physical contact. A human operator guides the robot in parent-child-like behavior by exerting force onto the hand of the robot. In contrast to a conventional approach of pHRI in which force/torque measurements are applied, the proposed solution is based on sensorless...
In this paper we consider the problem of human-robot collaborative manipulation of an object, where the human is active in controlling the motion, and the robot is passively following the human's lead. Assuming that the human grasp of the object only allows for transfer of forces and not torques, there is a disambiguity as to whether the human desires translation or rotation. In this paper, we analyze...
Although there exist devices that support an object transportation task such as a handcart, most devices are based on a wheel-type mobile mechanism, and hence it is difficult to move an object on a floor with high steps. Because a walking-type mobile mechanism enables to move up and down steps, it is expected to support an object transportation task in an environment with stairs or high steps. This...
Cooperative dynamic object manipulation extends the manipulation capabilities of human-robot dyads. This paper investigates cooperative swinging of rigid objects with the goal of reaching a desired level of energy, i.e. a desired object height. A human-human pilot study indicates that the arm-object-arm system can be approximated by a simple pendulum with two-sided unidirectional pulsed torque actuation...
In this paper a novel design of an actively powered arm orthotics is discussed. A light and effective electromechanical motor gear combination is designed which produces torque directly at the elbow. The modular design of the drive system makes it possible to use it in different applications in the field of orthotics, prosthetics and exoskeletons. The EMG sensors are used to measure the nerve impulses...
This paper proposes a novel design of a robotic hand exoskeleton device (PMHand) for the purpose of aiding post stroke rehabilitation. The main effects of a stroke on the human hand and the current rehabilitation methods and their limitations are briefly reviewed. The design process and fabrication of a full hand exoskeleton, control system and preliminary experimental results are presented in detail.
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