Partner familiarity enhances performance in a manual precision task.

Understanding human collaborative behavior in tasks with physical interaction is essential for advancing physical human-robot collaboration. Investigating how individuals learn to collaborate over repeated interactions can provide valuable insights for developing robotic agents capable of gradually improving coordination and collaboration performance. Therefore, this study investigated learning behavior in a high-precision task over repeated haptic collaboration.

The balance stabilising benefit of social touch: Influence of an individual's age and the partner's relative body characteristics.

Interpersonal touch (IPT) is a successful strategy to support balance during a wide range of activities in daily life, including physical education and therapy. Despite common practice, however, the influence of individual characteristics - such as age, balancing skills, motor experience, sex and anthropometry - and differences between interaction partners on the balance stabilising benefit of social touch is unknown. In an opportunity sample of 72 pairs (age range 4-63 years), we assessed an individual's postural sway and change due to IPT during single-legged stance under four sensory conditions: with or without vision in combination with IPT or without.

Physical control: A new avenue to achieve intelligence in soft robotics.

Physical control embodies motion intelligence in soft robots via self-regulating oscillations, sequences, and reactions.

Disturbances in human position sense during alterations in gravity: a parabolic flight experiment.

Under conditions of weightlessness human position sense appears to deteriorate. This was tested, employing three methods of measurement: two-arm matching, one-arm pointing and one-arm repositioning, carried out during parabolic flight. In hypergravity (1.

An assistive robot that enables people with amyotrophia to perform sequences of everyday activities.

Mobile manipulation aids aim at enabling people with motor impairments to physically interact with their environment. To facilitate the operation of such systems, a variety of components, such as suitable user interfaces and intuitive control of the system, play a crucial role. In this article, we validate our highly integrated assistive robot EDAN, operated by an interface based on bioelectrical signals, combined with shared control and a whole-body coordination of the entire system, through a case study involving people with motor impairments to accomplish real-world activities.

A Computational Approach for Internal Tendon Routing Channels in a Tendon-Driven Continuum Joint.

Tendon-driven continuum soft robots are currently applied in research and are given a promising perspective for future applications. For the routing of the tendons from the actuator to the point where the loading is demanded, two routing possibilities exist in the literature: internal routing of the tendons with the help of structurally embedded Bowden sheaths and external tendon routing where the tendon is not in contact with the soft structure. The application of the latter is a clear disadvantage for applications due to the high risk of interference with the tendon, for example, causing the tendon to break.

Evaluation of different robotic grippers for simultaneous multi-object grasping.

For certain tasks in logistics, especially bin picking and packing, humans resort to a strategy of grasping multiple objects simultaneously, thus reducing picking and transport time. In contrast, robotic systems mainly grasp only one object per picking action, which leads to inefficiencies that could be solved with a smarter gripping hardware and strategies. Development of new manipulators, robotic hands, hybrid or specialized grippers, can already consider such challenges for multi-object grasping in the design stages.

Finding the rhythm: Humans exploit nonlinear intrinsic dynamics of compliant systems in periodic interaction tasks.

Activities like ball bouncing and trampoline jumping showcase the human ability to intuitively tune to system dynamics and excite motions that the system prefers intrinsically. This human sensitivity to resonance has been experimentally supported for interactions with simple linear systems but remains a challenge to validate in more complex scenarios where nonlinear dynamics cannot be predicted analytically. However, it has been found that many nonlinear systems exhibit periodic orbits similar to the eigenmodes of linear systems.

An experimental study of the sensorized strain wave gear RT1-T and its capabilities for torque control in robotic joints.

The idea of sensorizing a strain wave gear to measure the transmitted torque has been reported since the 1980s. The strain in the elastic flex spline is typically measured by strain gages attached to it. The resulting voltages relate to the transmitted torque in the gear.

Intrinsic sense of touch for intuitive physical human-robot interaction.

The sense of touch is a property that allows humans to interact delicately with their physical environment. This article reports on a technological advancement in intuitive human-robot interaction that enables an intrinsic robotic sense of touch without the use of artificial skin or tactile instrumentation. On the basis of high-resolution joint-force-torque sensing in a redundant arrangement, we were able to let the robot sensitively feel the surrounding environment and accurately localize touch trajectories in space and time that were applied on its surface by a human.

Experimental evaluation of the impact of sEMG interfaces in enhancing embodiment of virtual myoelectric prostheses.

Introduction: Despite recent technological advances that have led to sophisticated bionic prostheses, attaining embodied solutions still remains a challenge. Recently, the investigation of prosthetic embodiment has become a topic of interest in the research community, which deals with enhancing the perception of artificial limbs as part of users' own body. Surface electromyography (sEMG) interfaces have emerged as a promising technology for enhancing upper-limb prosthetic control.

A direct spinal cord-computer interface enables the control of the paralysed hand in spinal cord injury.

Paralysis of the muscles controlling the hand dramatically limits the quality of life for individuals living with spinal cord injury (SCI). Here, with a non-invasive neural interface, we demonstrate that eight motor complete SCI individuals (C5-C6) are still able to task-modulate in real-time the activity of populations of spinal motor neurons with residual neural pathways. In all SCI participants tested, we identified groups of motor units under voluntary control that encoded various hand movements.

Robotic world models-conceptualization, review, and engineering best practices.

The term "world model" (WM) has surfaced several times in robotics, for instance, in the context of mobile manipulation, navigation and mapping, and deep reinforcement learning. Despite its frequent use, the term does not appear to have a concise definition that is consistently used across domains and research fields. In this review article, we bootstrap a terminology for WMs, describe important design dimensions found in robotic WMs, and use them to analyze the literature on WMs in robotics, which spans four decades.

The benefits of haptic feedback in robot assisted surgery and their moderators: a meta-analysis.

Robot assisted surgery (RAS) provides medical practitioners with valuable tools, decreasing strain during surgery and leading to better patient outcomes. While the loss of haptic sensation is a commonly cited disadvantage of RAS, new systems aim to address this problem by providing artificial haptic feedback. N = 56 papers that compared robotic surgery systems with and without haptic feedback were analyzed to quantify the performance benefits of restoring the haptic modality.

Progressive unsupervised control of myoelectric upper limbs.

Unsupervised myocontrol methods aim to create control models for myoelectric prostheses while avoiding the complications of acquiring reliable, regular, and sufficient labeled training data. A limitation of current unsupervised methods is that they fix the number of controlled prosthetic functions a priori, thus requiring an initial assessment of the user's motor skills and neglecting the development of novel motor skills over time.We developed a progressive unsupervised myocontrol (PUM) paradigm in which the user and the control model coadaptively identify distinct muscle synergies, which are then used to control arbitrarily associated myocontrol functions, each corresponding to a hand or wrist movement.

The Bcm rule allows a spinal cord model to learn rhythmic movements.

Currently, it is accepted that animal locomotion is controlled by a central pattern generator in the spinal cord. Experiments and models show that rhythm generating neurons and genetically determined network properties could sustain oscillatory output activity suitable for locomotion. However, current central pattern generator models do not explain how a spinal cord circuitry, which has the same basic genetic plan across species, can adapt to control the different biomechanical properties and locomotion patterns existing in these species.

Proprioceptive disturbances in weightlessness revisited.

The senses of limb position and movement become degraded in low gravity. One explanation is a gravity-dependent loss of fusimotor activity. In low gravity, position and movement sense accuracy can be recovered if elastic bands are stretched across the joint.

Coordination tending towards an anti-phase relationship determines greater sway reduction during entrainment with a simulated partner.

The increased risk of falls in the older aged population demands the development of assistive robotic devices capable of effective balance support. For the development and increased user acceptance of such devices, which provide balance support in a human-like way, it is important to understand the simultaneous occurrence of entrainment and sway reduction in human-human interaction. However, sway reduction has not been observed yet during a human touching an external, continuously moving reference, which rather increased human body sway.

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

Soft robots aim to revolutionize how robotic systems interact with the environment thanks to their inherent compliance. Some of these systems are even able to modulate their physical softness. However, simply equipping a robot with softness will not generate intelligent behaviors.

A robotic system for solo surgery in flexible ureteroscopy: development and evaluation with clinical users.

Purpose: The robotic system CoFlex for kidney stone removal via flexible ureteroscopy (fURS) by a single surgeon (solo surgery, abbreviated SSU) is introduced. It combines a versatile robotic arm and a commercially available ureteroscope to enable gravity compensation and safety functions like virtual walls. The haptic feedback from the operation site is comparable to manual fURS, as the surgeon actuates all ureteroscope DoF manually.

Simultaneous assessment and training of an upper-limb amputee using incremental machine-learning-based myocontrol: a single-case experimental design.

Background: Machine-learning-based myocontrol of prosthetic devices suffers from a high rate of abandonment due to dissatisfaction with the training procedure and with the reliability of day-to-day control. Incremental myocontrol is a promising approach as it allows on-demand updating of the system, thus enforcing continuous interaction with the user. Nevertheless, a long-term study assessing the efficacy of incremental myocontrol is still missing, partially due to the lack of an adequate tool to do so.