Modelling of the human shoulder as a parallel mechanism without constraints

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The present invention concerns a pivot comprising two assemblies, namely a central assembly (401) and a peripheral assembly (400). These two assemblies are mobile in rotation relative to each other around an axis of rotation (A). The pivot is characterized ...

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Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

The sense of touch can provide a robot with a wealth of information about the contact region when interacting with an unknown environment. Nevertheless, utilizing touch information to plan exploration paths and adjust robot posture to improve task efficien ...

A growing body of research has shown that reversed cyclic shear loading of reinforced concrete (RC) causes effects that are not accounted for in monotonic behavioral models. Notable among these effects are a reduction in shear strength and significant plas ...

Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and m ...

Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to livin ...

In this thesis, the aerodynamic challenges in flapping wing flight are addressed. In particular, the effects of different wing kinematics, flexibilities, and planforms on the the leading edge vortex development and aerodynamic performance are investigated. ...

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

Humans coordinate the abundant degrees of freedom (DoFs) of hands to dexterously perform tasks in everyday life. We imitate human strategies to advance the dexterity of multi-DoF robotic hands. Specifically, we enable a robot hand to grasp multiple objects ...

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Haptic perception of softness is a unique feature of the human skin that relies on the concurrent measurements of the lateral deformation and compression of the skin during object manipulation. This is challenging to implement in robotics because of combin ...

One can estimate the velocity and acceleration of robot manipulators by utilizing nonlinear observers. This involves combining inertial measurement units (IMUs) with the motor encoders of the robot through a model-based sensor fusion technique. This approa ...

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Today's continued increase in demand for processing power, despite the slowdown of Moore's law, has led to an increase in processor count, which has resulted in energy consumption and distribution problems. To address this, there is a growing trend toward ...

Modelling of the human shoulder as a parallel mechanism without constraints

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Pivot, process for manufacturing such a pivot, oscillator comprising such a pivot, watch movement and timepiece comprising such an oscillator

Three-dimensional evaluation of the transverse rotator cuff muscle's resultant force angle in relation to scapulohumeral subluxation and glenoid vault morphology in nonpathological shoulders

Neurophysiological underpinnings of an intensive protocol for upper limb motor recovery in subacute and chronic stroke patients

Exploration-based model learning with self-attention for risk-sensitive robot control

Online active and dynamic object shape exploration with a multi-fingered robotic hand

The General Crack Component Model for reversed cyclic shear

Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot

The effects of kinematics, flexibility, and planform on the vortex formation and aerodynamic performance of flapping wing flight

Implicit Distance Functions: Learning and Applications in Robotics

Exploiting Kinematic Redundancy for Robotic Grasping of Multiple Objects

Comparison of the ALPS and PHILOS plating systems in proximal humeral fracture fixation - a retrospective study

Investigating the roles of reflexes and central pattern generators in the control and modulation of human locomotion using a physiologically plausible neuromechanical model

From finger animation to full-body embodiment of avatars with different morphologies and proportions

A geometric optimal control approach for imitation and generalization of manipulation skills

Liquid Metal-Based Sensor Skin Enabling Haptic Perception of Softness

A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration

C-shells: Deployable Gridshells with Curved Beams

Prescribing Cartesian Stiffness of Soft Robots by Co-Optimization of Shape and Segment-Level Stiffness

Compilation and Design Space Exploration of Dataflow Programs for Heterogeneous CPU-GPU Platforms