A sEMG-driven Soft ExoSuit based on Twisted String Actuators for Elbow Assistive Applications

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This thesis addresses key challenges in developing adaptive lower-limb exoskeletons to enhance balance, mobility, and user autonomy during daily living activities. It presents a comprehensive exploration of three critical aspects: push recovery during stan ...

The rise of robotic body augmentation brings forth new developments that will transform robotics, human-machine interaction, and wearable electronics. Extra robotic limbs, although building upon restorative technologies, bring their own set of challenges i ...

The use of soft and stretchable materials allows the development of adaptive robotic systems and human-machine interfaces that are more natural and comfortable to interact with. One of the application fields that benefits the most from these compliant mate ...

Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. This article introduces a novel approach called the rotational obstacle avoidance method (ROAM) fo ...

Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for all fingers must ...

Myoelectric prostheses allow users to recover lost functionality by controlling a robotic device with their remaining muscle activity. Commercial devices usually use a two-recording-channel system placed on specific muscles to control a single degree of fr ...

Novel technologies, fabrication methods, controllers and computational methods are rapidly advancing the capabilities of soft robotics. This is creating the need for design techniques and methodologies that are suited for the multi-disciplinary nature of s ...

Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...

Text Reuse reveals meaningful reiterations of text in large corpora. Humanities researchers use text reuse to study, e.g., the posterior reception of influential texts or to reveal evolving publication practices of historical media. This research is often ...

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 ...

Shape-changing robots adapt their own morphology to address a wider range of functions or environments than is possible with a fixed or rigid structure. Akin to biological organisms, the ability to alter shape or configuration emerges from the underlying m ...

When developing or designing biomimetic robotic fingers with rigid and soft components and integrated sensors, fabrication is often a bottle-neck when assembling and casting processing techniques are used. This study introduces a thermoplastic multi-materi ...

The following data contain the information and files, which are required to recreate and build the experimental setup that is described in the Laboratory manual. Further details can be found in the associated publication “A graduate laboratory experiment t ...

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

Environmental monitoring and mapping operations are an essential tool to combat climate change. An important branch of this domain concerns the construction of reliable gas maps. Adaptive navigation strategies coupled with multi-robot systems improve the o ...

Despite more than thirty-five years of research on wearable technologies to assist the upper-limb and a multitude of promising preliminary results, the goal of restoring pre-impairment quality of life of people with physical disabilities has not been fully ...

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 ...

Humans have a great capacity to perform complex manipulations. However, there are many tasks for which two hands are not enough, such as in surgery. For such tasks, a dyad of people is required. However, when not used to work together, a dyad collaboration ...

Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...

From surgery to watchmaking, fine-manipulation skills highly rely on the dexterity afforded by both hands. Coordination is key to human dexterity. Specifically, humans need not only to govern the abundant intrinsic degrees of freedom (DOFs) to allocate con ...

A sEMG-driven Soft ExoSuit based on Twisted String Actuators for Elbow Assistive Applications

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Partial Assistance with Lower-Limb Exoskeletons to Enhance Gait and Balance in Daily Living Activities

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Improving hand prosthesis control with advanced single-finger proportional decoding and robotic shared control

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impresso Text Reuse at Scale. An interface for the exploration of text reuse data in semantically enriched historical newspapers

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Morphological flexibility in robotic systems through physical polygon meshing

A multi-material robotic finger with integrated proprioceptive and tactile capabilities produced with a circular process

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Self-Correcting Quadratic Programming-Based Robot Control

Multi-Robot 3D Gas Distribution Mapping: Coordination, Information Sharing and Environmental Knowledge

Wearable Robotics for Impaired Upper-Limb Assistance and Rehabilitation: State of the Art and Future Perspectives

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

Foot-Interfaces Control and Human-Robot Interaction in Four-Handed Manipulation

Learning and optimization of anticipatory feedback controllers for robot manipulation

Enhancing our understanding of human fine manipulation skills and advancing robot dexterity in grasping