Publications associées à Tactile Feedback Improves Performance in a Palpation Task: Results in a VR-Based Testbed

Augmenting locomotor perception by remapping tactile foot sensation to the back

Mohamed Bouri, Olaf Blanke, Oliver Alan Kannape, Atena Fadaeijouybari, Selim Jean Habiby Alaoui

Background :Sensory reafferents are crucial to correct our posture and movements, both reflexively and in a cognitively driven manner. They are also integral to developing and maintaining a sense of agency for our actions. In cases of compromised reafferen ...

BioMed Central2024

Fly-Swat or Cannon? Cost-Effective Language Model Choice via Meta-Modeling

Maxime Jean Julien Peyrard, Robert West, Marija Sakota

Generative language models (LMs) have become omnipresent across data science. For a wide variety of tasks, inputs can be phrased as natural language prompts for an LM, from whose output the solution can then be extracted. LM performance has consistently be ...

Assoc Computing Machinery2024

Additively manufactured stretchable zipping electrostatic actuators

Giulio Grasso

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 ...

EPFL2024

Filiform Variable Stiffness Technologies for Medical Robotics

Yegor Piskarev

In recent years, soft robotics has surged in applications like wearables, drones, smart fabrics, and medical instruments. Due to their compliance, these devices excel in tasks demanding dexterity and adaptability, such as manipulation, locomotion, crash re ...

EPFL2024

Integration of feedforward and feedback control in the neuromechanics of vertebrate locomotion: a review of experimental, simulation and robotic studies

Auke Ijspeert

Animal locomotion is the result of complex and multi-layered interactions between the nervous system, the musculo-skeletal system and the environment. Decoding the underlying mechanisms requires an integrative approach. Comparative experimental biology has ...

Company Biologists Ltd2023

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

Sylvain Calinon, Amirreza Razmjoo Fard, Jie Zhao

Daily manipulation tasks are characterized by regular features associated with the task structure, which can be described by multiple geometric primitives related to actions and object shapes. Only using Cartesian coordinate systems cannot fully represent ...

Elsevier2023

Liquid Metal-Based Sensor Skin Enabling Haptic Perception of Softness

Stéphanie Lacour, Ivan Furfaro, Emilio Fernández Lavado, Haotian Chen

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 ...

2023

Enabling four-arm laparoscopic surgery by controlling two robotic assistants via haptic foot interfaces

Mohamed Bouri, Aude Billard, Walid Amanhoud, Jacob Hernandez Sanchez

Robotic surgery is a promising direction to improve surgeons and assistants’ daily life with respect to conventional surgery. In this work, we propose solo laparoscopic surgery in which two robotic arms, controlled via haptic foot interfaces, assist the ta ...

2023

Hydraulically Amplified Electrostatic Taxels (HAXELs) for Full Body Haptics

Herbert Shea, Edouard Franck Vincent Gustave Leroy

The ability to mechanically stimulate touch receptors over the entire body is a key feature for fully immersive and highly realistic virtual reality experience. Haptic stickers, flexible arrays of HAXELs (hydraulically amplified TAXels), that enable cutane ...

Wiley2023

Mechanisms underlying reinforcement learning of motor skills

Pierre Theopistos Vassiliadis

Motor learning allows animals, including human beings, to acquire skills that are es-sential for efficient interactions with the environment. This ability to learn new motor skills is of great practical relevance for daily-life activities (such as when lea ...

EPFL2023

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

Vincent Alexandre Mendez

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 ...

EPFL2023

Efficient Online Clustering with Moving Costs

Volkan Cevher, Efstratios Panteleimon Skoulakis

In this work we consider an online learning problem, called Online k-Clustering with Moving Costs, at which a learner maintains a set of k facilities over T rounds so as to minimize the connection cost of an adversarially selected sequence of clients. The ...

2023

Neuronal correlates of goal-directed sensorimotor transformation in sensory, motor and higher-order cortical areas

Anastasiia Oryshchuk

An important function of the brain is to interpret incoming sensory information from the outside world to guide adaptive behavior. Understanding how and where sensory information is transformed into motor commands in a context- and learning-dependent manne ...

EPFL2023

Appropriations and Uses of Travel Time

Ludy Juliana González Villamizar

Time has always been a central factor in understanding the challenges of daily mobility. For a long time, and still today, methods of economic evaluation of transport projects have monetized time savings so that they can be included in the cost–benefit ana ...

ISTE Wiley2023

Correlation properties of a one-dimensional repulsive Bose gas at finite temperature

Riccardo Rota

We present a comprehensive study shedding light on how thermal fluctuations affect correlations in a Bose gas with contact repulsive interactions in one spatial dimension. The pair correlation function, the static structure factor, and the one-body density ...

IOP Publishing Ltd2023

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

Jacob Hernandez Sanchez

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 ...

EPFL2022

Changing Finger Movement Perception: Influence of Active Haptics on Visual Dominance

Ronan Boulic, Bruno Herbelin, Loën Boban

The perception of one’s own body is a complex mechanism that can be disturbed by conflicting sensory information and lead to illusory (mis-) perceptions. Prominent models of multisensory integration propose that sensory streams are integrated according to ...

2022

Exploiting Marginal Stability in Slow-Fast Quasilinear Dynamical Systems

Alessia Ferraro

The accurate investigation of many geophysical phenomena via direct numerical simulations is computationally not possible nowadays due to the huge range of spatial and temporal scales to be resolved. Therefore advances in this field rely on the development ...

EPFL2022

Modeling and mitigating supply chain disruptions as a bilevel network flow problem

Ralf Seifert, Anna Timonina-Farkas, René Yves Glogg

Years of globalization, outsourcing and cost cutting have increased supply chain vulnerability calling for more effective risk mitigation strategies. In our research, we analyze supply chain disruptions in a production setting. Using a bilevel optimization ...

2022

Pan-Arctic seasonal cycles and long-term trends of aerosol properties from 10 observatories

Julia Schmale, Jakob Boyd Pernov

Even though the Arctic is remote, aerosol properties observed there are strongly influenced by anthropogenic emissions from outside the Arctic. This is particularly true for the so-called Arctic haze season (January through April). In summer (June through ...

Copernicus Publications2022