Abstract Contact robots are increasingly used to assist humans in physical training and manufacturing tasks. However, the effectiveness of current systems is limited as their control focuses on system performance without explicitly considering upcoming human user’s control. Here we present a differential game-based controller for contact that ensures optimal interaction with user by predicting during movement while inherently finite planning horizon. Using this model-predictive game (MPG)...

Active upper limb exoskeletons are a potentially powerful tool for neuromotor rehabilitation. This potential depends on several basic control modes, one of them being transparency. In this mode, the exoskeleton must follow human movement without altering it, which theoretically implies null interaction efforts. Reaching high, albeit imperfect, levels transparency requires both an adequate method and in-depth evaluation impacts movement. The present paper introduces such three different...

SUMMARY Over the past decade, research on human–robot collaboration has grown exponentially, motivated by appealing applications to improve daily life of patients/operators. A primary requirement in many is implement highly “transparent” control laws reduce robot impact human movement. This may be quantified through relevant motor indices. In this paper, we show that based careful identification procedures transparency compared classical closed-loop position laws. new performance index ratio...

Time and effort are thought to be subjectively balanced during the planning of goal-directed actions, thereby setting vigor volitional movements. Theoretical models predicted that value time should then amount high levels effort. However, time-effort trade-off has so far only been studied for a narrow range efforts. To investigate extent which humans can invest in time-saving effort, we used robotic exoskeleton substantially vary energetic cost associated with certain reaching In this...

A simple measurement system with a set of six ultrasonic piezoelectric transducers is presented for direct 3D positioning humanoid robot limbs. configuration three emitters and receivers leads to millimetric estimation the distances. Millimetric resolution achievement over 70 cm range aimed high angular tolerance in order mount sensor on robot. Sampling frequency up 60 Hz obtained. The then used estimate relative positions orientations space each foot regard pelvis. principle experimental...

Active exoskeletons are promising devices for improving rehabilitation procedures in patients and preventing musculoskeletal disorders workers. In particular, implementing human limb’s weight support interesting to restore some mobility with muscle weakness help occupational load carrying tasks. The present study aims at of the upper limb by providing a model considering joint misalignments control law including feedforward terms learned from prior population-based analysis. Three...

Despite exoskeletons becoming widespread tools in industrial applications, the impact of design human–exoskeleton physical interfaces has received little attention. This study aims at thoroughly quantifying influence different on subjective and objective biomechanical parameters. To this aim, 18 participants performed elbow flexion/extension movements while wearing an active exoskeleton with three interfaces: a strap without any degree freedom, thermoformed orthosis one (translation) degrees...

Exoskeletons are among the most promising devices dedicated to assisting human movement during reeducation protocols and preventing musculoskeletal disorders at work. However, their potential is currently limited, partially because of a fundamental contradiction impacting design. Indeed, increasing interaction quality often requires inclusion passive degrees freedom in design human-exoskeleton interfaces, which increases exoskeleton’s inertia complexity. Thus, its control also becomes more...

Abstract In the field of robotic exoskeleton control, it is critical to accurately predict intention user. While surface electromyography (EMG) holds potential for such precision, current limitations arise from absence robust EMG-to-torque model calibration procedures and a universally accepted model. This paper introduces practical framework calibrating evaluating models, accompanied by novel nonlinear The includes an in situ procedure that involves generating trajectories subsequently them...

Additive manufacturing takes a growing place in industry tanks to its ability create free-form parts with internal complex shape. Yet, the quality of final surfaces additive is still challenge since it doesn’t reach required level for use. To address this issue, necessary measure form and dimension deviation order plan post-process operations be considerate. Moreover context 4.0, measurement step should fully integrated into line as close possible process post-process. We introduce article...

L’huile essentielle de bois rose (Aniba rosaeodora Ducke) recherchée pour ses propriétés olfactives est un ingrédient majeur la parfumerie luxe. En raison d’une surexploitation ces dernières décen- nies, le désormais consi- déré comme une espèce en voie dis- parition. Envisager produire l’huile à partir plantations s’avère alternative pertinente. Nous avons planté 605 arbres issus graines deux provenances Guyane française sur parcelle 5 445 m². La plantation présente particularité d’être...

Gravity is a ubiquitous component of our environment that we have learned to optimally integrate in movement control. Yet, altered gravity conditions arise numerous applications from space exploration rehabilitation, thereby pressing the sensorimotor system adapt. Here, used robotic exoskeleton reproduce elbow joint-level effects arbitrary fields ranging 1g -1g, passing through Mars- and Moon-like gravities, tested whether humans can reoptimize their motor patterns accordingly. By comparing...

The Scottish scientist Colin Maclaurin (1698–1746) is mainly known as a mathematician who focused on pure mathematics. But during his life he was interested in the application of mathematics all branches knowledge. This article considers relationships between theory and practice Maclaurin's works.

This paper aims to explore the challenges and opportunities presented by deepfakes in context of online learning Vietnam. Deepfakes, powered artificial intelligence (AI), have gained significant attention for their potential applications negative consequences. study begins examining AI-based deepfake technologies, including expression lip-sync reenactment, as well voice cloning. Additionally, technologies detecting are discussed. Subsequently, investigates how AI-generated videos can be...

Gravity is a ubiquitous component of our environment that we learnt to optimally integrate in movement control. Yet, altered gravity conditions arise numerous applications from space exploration rehabilitation, thereby pressing the sensorimotor system adapt. Here, used robotic exoskeleton test whether humans can quickly reoptimize their motor patterns arbitrary fields, ranging 1g −1g and passing through Mars- Moon-like gravities. By comparing actual arm movements with those predicted by an...

The Henri Poincaré correspondence is a corpus of letters sent and received by this mathematician. edition long-term project begun during the 1990s. Since 1999, website devoted to publish online with digitized letters. In 2017, it has been decided reforge using Omeka S. This content management system offers useful services but some user needs have led development an RDFS infrastructure associated it. Approximate explained searches are managed thanks SPARQL query transformations. A prototype...

This paper proposes an energy control method for dynamic obstacle crossing by a planar biped. approach was tested in simulation where it found to enable the biped robot cross obstacles of different heights, due inertial forces, leaning with front foot on obstacles. The propulsion system is produced rear leg, which endowed four actuated degrees-of-freedom (hip, knee, ankle, toes), and controlled force non-singular case, three singular case. identifies ten geometric, energetic servo-control...