Motor improvement estimation and task adaptation for personalized robot-aided therapy: a feasibility study

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Gender inequality is a widespread problem in our society. It can manifest itself in many ways and contexts, and starting as early as primary school. While an increasing number of initiatives aim at tackling gender biases and inequalities, few of them are a ...

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 ...

Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

The hands, our silent performers in daily life, face overwhelming challenges when neurological impairments disrupt the simple tasks that compose our daily symphony. This thesis unveils a comprehensive framework for the objective monitoring of upper-limb re ...

There is a growing trend towards designing learning activities featuring robots as collaborative exercises where children work together to achieve the activity objectives, generating interactions that can trigger learning processes. Witnessing such activit ...

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 ...

Background: As clinical trials involving implantable neural devices (INDs) increase in frequency and attract greater public attention, it is paramount to ensure they are conducted in alignment with fundamental ethical guidelines. Particular focus must be p ...

Robot motor skills can be acquired by deep reinforcement learning as neural networks to reflect state-action mapping. The selection of states has been demonstrated to be crucial for successful robot motor learning. However, because of the complexity of neu ...

In this thesis, we concentrate on advancing high-level behavioral control policies for robotic systems within the framework of Dynamical Systems (DS). Throughout the course of this research, a unifying thread weaving through diverse fields emerges, and tha ...

Division of labour is widely thought to increase the task efficiency of eusocial insects. Workers can switch their task to compensate for sudden changes in demand, providing flexible task allocation. In combination with automated tracking technology, we de ...

Multimodal unmanned aerial vehicles (UAVs) are rarely capable of more than two modalities, i.e., flying and walking or flying and perching. However, being able to fly, perch, and walk could further improve their usefulness by expanding their operating enve ...

IntroductionThe current assessment and standardization of microsurgical skills are subjective, posing challenges in reliable skill evaluation. We aim to address these limitations by developing a quantitative and objective framework for accurately assessing ...

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 ...

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 ...

Motor improvement estimation and task adaptation for personalized robot-aided therapy: a feasibility study

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Participatory design of a social robot and robot-mediated storytelling activity to raise awareness of gender inequality among children

Self-Correcting Quadratic Programming-Based Robot Control

Online Multicontact Receding Horizon Planning via Value Function Approximation

Context-Aware Monitoring of Hand Motor Primitives in Daily Life Activities: A Pathway to Objectively Assess Rehabilitation of Patients with Upper-Limb Neurological Impairment

Computational Models of Mutual Understanding for Human-Robot Collaborative Learning

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

Where is the exit? The ethical importance of exit plans in clinical trials with neural implants

Identifying important sensory feedback for learning locomotion skills

Geometric Learning: Leveraging differential geometry for learning and control

Targeted worker removal reveals a lack of flexibility in brood transport specialisation with no compensatory gain in efficiency

Avian-Inspired Claws Enable Robot Perching or Walking

An objective skill assessment framework for microsurgical anastomosis based on ALI scores

Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding

Acoustic Levitation apparatus (Robotics Practicals)