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Realizing accurate robotic manipulation of flexible objects is very challenging. It asks for dexterous manipulation skill, and demands good adaptation to dynamic uncertainties due to deformation. Unlike traditional methods that basically depend on complex modeling, we follow the opposite approach by exploring possible simplifications based on high-speed motion strategy as well as high-speed visual...
Dividing the control authority of the slave robot among operators, based on the available information to them and their controlling strategy, is absolutely essential for cooperative teleoperation systems. Although there have been many studies on this, most of the analysis were limited to fixed authority and its effect on stability. None of the research has discussed how to allocate the control authority...
The coordination of the upper limbs has been shown to be beneficial for post-stroke treatment. In virtual reality based rehabilitation, bimanual exercises can be performed by exploiting haptic rendering techniques that allow object manipulation with two haptic devices. Haptic interaction generally involves spherical end-effectors with invariant shapes. Furthermore, the position of the end-effectors...
Controlling a robotic rehabilitation artefact such as a hand prosthesis is yet a rather open problem. Particularly, the choice of a human-machine interface (HMI) to enable natural control is still debatable. The traditional choice, i.e. surface electromyography (sEMG), suffers from a number of problems (electrode displacement, sweat, fatigue) which cannot be easily solved. One of its main drawbacks...
After unilateral stroke, physical impairment commonly appears on one side of the body. As the unaffected side is the non-dominant side for some patients, we investigated whether human motor learning can transfer from a non-dominant arm to the dominant, with a 2-dof manipulandum that allows both isometric and dynamic reaching. The goal of our study was to assess the transfer of visuomotor adaptation...
Repetitive retraining of grip function is critical for stroke patients to regain functional abilities. Therefore, we have developed ‘GripAble’, a low-cost but sensitive hand-grip promoting independent and repetitive rehabilitation of grasp function based around a novel flexible structure. An initial usability study was performed on (N = 34) healthy subjects to compare user interaction between this...
Pelvic motion plays an important role in human locomotion. Any abnormality of the pelvic motion during walking, such as asymmetry or altered range of motion, can affect gait stability and energy consumption [1]. In this work, we propose a new control methodology to guide and correct the human pelvic motion in the transverse plane during walking. An assist-as-needed paradigm was used to generate forces...
This paper describes the development of an ankle training robot force visualization for eccentric contraction training. In the mechanism of walking, the eccentric contraction of the tibialis anterior muscle plays an important part in the phase between heel-strike and foot-flat as a shock absorber. However, the eccentric contraction has not been reported in previous research on ankle rehabilitation...
Due to the growing field of neuro-prosthetics and other brain-machine interfaces that employ human-like control schemes, it has become a priority to design sensor and actuation mechanisms that relay tactile information to the user. Unfortunately, most state of the art technology uses feedback techniques that are invasive, costly or inefficient for the general population. This paper proposes a feasible...
Chronic hemiparetic stroke survivors need 3D point-to-point movements every day at home. We compared device-assisted 3D reaching exercise performed by chronic stroke and evaluated the effect of active-assisted/active devices and 2D/3D visual feedback. We chose two arms to serve as upper extremity exercise devices, with active-assisted and active modes. 2D/3D visual feedback of the target position...
A silicone retractor that can be attached to suction pipes was developed in order to enhance the usability [1]. The measurement of the retracting force is desired in order to avoid damage to brain tissue due to an unexpected large force. This paper presents a force-sensing embedded silicone retractor that can be attached to suction pipes. The developed silicone retractor can provide three functions...
Robotic manipulators that use joystick interfaces for telemanipulation take time and effort to master and lack an intuitive basis for human robot interaction. These factors can hamper operator performance, increase cognitive workload, and limit overall user effectiveness on highly dexterous tasks. Master-slave interfaces (MSIs) used in the fields of animatronics, telesurgery, and hazardous materials...
Controlling absolute magnitudes of fingertip force is an important skill in many haptic interactions such as surgical operations and mechanical assemblies. A fundamental question in the force control is how quickly human can output a target force with expected accuracy. In this paper, human's capability to control absolute magnitudes of fingertip force under audio or visual feedback was observed through...
The impairment of the fingers is one of the main problems that prevents patients performing their daily activities. Researchers have used virtual environment combined with haptic feedback to improve the strength of the fingers. In this study, we design and implement a cost-effective, light, and easy to use haptic glove that helps patients in their rehabilitation program. The virtual environment are...
A novel approach for stabilization and navigation of swarms of Micro Aerial Vehicles (MAVs) along a predefined path through a complex environment with obstacles is introduced in this paper. The method enables to control large MAV swarms (in literature also called UAV swarms) based only on onboard sensors and without any inter-vehicle communication. The proposed method relies on visual localization...
Wearable finger-based haptics with cutaneous feedback is promising, as it allows us to duplicate many real-world rich/important tasks that are relying on the dexterity of fingers and hands in the virtual-world. For this system, one of the key challenges is the finger-tracking, which can of course never be perfect, yet, if used in VR (e.g., with HMD), would still be adequate as long as its tracking...
While research has demonstrated how vibrotactile devices can be effectively used to guide human behavior, efficient mappings of vibration patterns for spatial guidance in time-critical dynamical tasks have not yet been understood. In this paper, we contrast two types of action-dependent, haptic stimulus designs to demonstrate the different effects of vibrotactile feedback on the human control performance...
The haptic modality is a direct and informative communication channel when manipulating objects jointly, but it may also be difficult to interpret. Indeed, the forces generated by the partner and the environment are summed together. This work uses techniques from psychophysics to investigate the ability of humans to untangle these two sources when collaborating in a joint perceptual task where one...
This paper investigates the effect of maximum indentation force and depth on people's ability to accurately discriminate compliance using indirect visual information only. Participants took part in two psychophysical experiments in which they were asked to choose the ‘softest’ sample out of a series of presented sample pairs. In the experiments, participants observed a computer-actuated tip indent...
Haptic media, as a third type of 3D media besides 3D visual and 3D audio, is essential to realize the true 3D multimedia. Recently, pseudo-haptics has gained considerable attention since it can produce a haptic feeling without specific hardware. We first categorized pseudo-haptics into three types based on perception phases and virtual hand form. A series of experiments quantitatively proved that...
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