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Wearable Technologies for Embodied Human-Robot Interaction

Robotic teleoperation is fundamental to augment the resilience, precision, and force of robots with the cognition of the operator. However, current interfaces, such as joysticks and remote controllers, are often complicated to handle since they require cog ...

EPFL2019

FlyJacket: An Upper Body Soft Exoskeleton for Immersive Drone Control

David Atienza Alonso, Dario Floreano, Stefano Mintchev, Fabio Isidoro Tiberio Dell'Agnola, Carine Rognon, Alexandre Thierry Cherpillod

Most human–drone interfaces, such as joysticks and remote controllers, require attention and developed skills during teleoperation. Wearable interfaces could enable a more natural and intuitive control of drones, which would make this technology accessible ...

2018

Multi-contact tactile exploration and interaction with unknown objects

Nicolas Sommer

Humans rely on the sense of touch in almost every aspect of daily life, whether to tie shoelaces, place fingertips on a computer keyboard or find keys inside a bag. With robots moving into human-centered environment, tactile exploration becomes more and mo ...

EPFL2017

Profile control simulations and experiments on TCV: a controller test environment and results using a model-based predictive controller

Olivier Sauter, Timothy Goodman, Jean-Marc Moret, Federico Alberto Alfredo Felici, Antoine Pierre Emmanuel Alexis Merle, Cristian Galperti, Mengdi Kong, Francesco Carpanese, Sun Hee Kim, Doohyun Kim

The successful performance of a model predictive profile controller is demonstrated in simulations and experiments on the TCV tokamak, employing a profile controller test environment. Stable high-performance tokamak operation in hybrid and advanced plasma ...

IOP Publishing Ltd2017

An Adaptive Neuromuscular Controller for Assistive Lower-Limb Exoskeletons: A Preliminary Study on Subjects with Spinal Cord Injury

Auke Ijspeert, Florin Dzeladini, Amy Roning Wu, Tycho Jan Henricus Brug

Versatility is important for a wearable exoskeleton controller to be responsive to both the user and the environment. These characteristics are especially important for subjects with spinal cord injury (SCI), where active recruitment of their own neuromusc ...

Frontiers Research Foundation2017

The effects of haptic-virtual reality game therapy on brain-motor coordination for children with hemiplegia: A pilot study

Mohamed Bouri

Children with hemiplegia have movements' difficulties especially in their upper limbs, these difficulties occur due to the loss of the communication between the brain and the affected side of the body. In this study, visual, audio, and tactile stimulation ...

IEEE2017

Haptic-Enabled Handheld Mobile Robots: Design and Analysis

Pierre Dillenbourg, Francesco Mondada, Wafa Monia Benkaouar Johal, Ayberk Özgür

The Cellulo robots are small tangible robots that are designed to represent virtual interactive point-like objects that reside on a plane within carefully designed learning activities. In the context of these activities, our robots not only display autonom ...

ACM2017

Multi-contact haptic exploration and grasping with tactile sensors

Aude Billard, Nicolas Sommer

Haptic exploration has received a great deal of attention of late thanks to the variety of commercially available tactile sensors. While the majority of previous works consider control of a single contact point at a time, we tackle simultaneous control of ...

Elsevier2016

Wearable multimodal tactile interfaces for augmenting haptic perception

Simon Gallo

Haptic feedback has been used to faithfully restitute the haptic sense lacking during telemanipulation, but also for providing auxiliary information via the haptic channel to restore functional perception of missing or damaged senses, e.g. sensory substitu ...

EPFL2016

Design of a Switching Controller for Adaptive Disturbance Attenuation with Guaranteed Stability

Alireza Karimi

In this paper, a new algorithm is proposed for the design of a family of controllers to be used within an adaptive switching control scheme. The resulting switching controller is able to attenuate the effects of disturbances having uncertain and possibly t ...

2015

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