Recent developments in neural interfaces enable the real-time and non-invasive tracking of motor neuron spiking activity. Such novel could provide a promising basis for human augmentation by extracting potentially high-dimensional control signals directly from nervous system. However, it is unclear how flexibly humans can activity individual neurons to effectively increase number degrees freedom available coordinate multiple effectors simultaneously. Here, we provided subjects (N = 7) with...

Abstract Patients undergoing Magnetic Resonance Imaging (MRI) often experience anxiety and sometimes distress prior to during scanning. Here a full MRI compatible virtual reality (VR) system is described tested with the aim of creating radically different experience. Potential benefits could accrue from strong sense immersion that can be created VR, which create experiences designed avoid perception being enclosed also provide new modes diversion interaction make even lengthy examinations...

The study of cable-driven parallel robots (CDPRs) has attracted much attention in recent years. However, to the best authors' knowledge, no single software platform exists for researchers perform different types analyses CDPRs arbitrary structure. In this paper, Cable-robot Analysis and Simulation Platform Research (CASPR) is introduced. Using platform, structures CDPRs, such as multi-link can be studied a wide range analyses, including kinematics, dynamics, control workspace analysis. CASPR...

The workspace analysis of cable-driven parallel manipulators has been widely studied, where the cables have considered as ideal force generators. Due to differences in actuation dynamics, not previously conducted for musculoskeletal systems. In this paper, static is performed on human shoulder with a Hill-type physiological muscle model. key characteristic muscles that its ability produce dependent length. Such type systems proposed first time. generated validated by comparing range motion...

Whether working together to move a table or supporting child learning ride bike, physically connected individuals exchange haptic information improve motor performance. However, this improvement occurs at the cost of additional effort for more skilled partner. Here, we hypothesize that an asymmetric connection, consisting stiffer link less partner and compliant partner, could task performance without in collaborative tasks. Through computational modelling, first tested hypothesis on...

This paper presents a new generalized ray-based approach to the generation and representation of wrench-closure workspace (WCW) for cable-driven robots (CDRs). Existing WCW studies have yet address two significant problems, first is lack generate with continuity information all degrees-of-freedom (DoFs) arbitrary CDRs, second higher DoF robots. The proposed work addresses these issues using lattice that can be applied in DoFs. Furthermore, graph introduced range advantages way CDR visualized...

Abstract Many tasks such as physical rehabilitation, vehicle co-piloting or surgical training, rely on assistance from a partner. While this may be provided by robotic interface, how to implement the necessary haptic support help improve performance without impeding learning is unclear. In paper, we study influence of interaction and shared tracking task. We compare in task with human partner, trajectory guidance traditionally used training robots, robot partner yielding human-like...

Objective: The last decades have seen a surge of robots for physical training and work assistance. How to best control these interfaces is unknown, although arguably the interaction should be similar human movement Methods: We compare behaviour assessment subjects tracking moving target with assistance from (i) trajectory guidance (as typically used in training), (ii) partner, (iii) reactive robot partner Takagi et al. Results: Trajectory was recognised as robotic, while felt human-like....

Abstract The successful completion of complex tasks like hanging a picture or laparoscopic surgery requires coordinated motion more than two limbs. User-controlled supernumerary robotic limbs (SL) have been proposed to bypass the need for coordination with partner in such tasks. However, neither capability control multiple alone relative collaborative partners, nor how that varies across different tasks, is well understood. In this work, we present an investigation requiring three-hands...

This letter introduces a sensory augmentation technique enabling contact robot to understand its human user's control in real-time and integrate their reference trajectory information into own feedback improve the tracking performance. The human's is formulated as controller with unknown gains desired trajectory. An unscented Kalman filter used estimate first then estimated augmented about system combined robot's measurement Simulations an implementation on robotic interface demonstrate that...

With a third hand human subject could be able to perform tasks that they would otherwise incapable of. Foot-controlled interfaces have proven suitable for controlling robot arms, however, when it is best use such devices and what limitations place supernumerary robotic limb (SL) in combination with the natural limbs (NLs) unknown. Here, we report an investigation of three-handed manipulation foot interface. We analysed i) effect addition SL has on performance NLs; ii) how mechanical and/or...

Haptic communication, the exchange of force and tactile information during dancing or moving a table together, has been shown to benefit performance human partners. Similarly, it could also be used improve robots working in contact with operator. As we move more robot integrated workspaces, how common network features such as delay jitter impact haptic communication need better understood. Here using human-like interactive robotic controller, that found indistinguishable by humans...

Fluid motion planners are a type of artificial potential field (APF) that use the differential equations fluid flow to determine desired trajectory. The approach in planning can efficiently produce natural-looking trajectories. However, used previous studies restricted 2-D environments. In this paper, is extended framework for 3-D mobile robots avoids spheroidal obstacles. Compared with existing APF approaches, kinematic constraints both speed and curvature also considered. Possessing...

The study of the relationship between desired system dynamics and actuation wrench producing those is important for robotic analysis. For traditionally actuated robots, quality indices dexterity manipulability quantify this relationship. However, unilaterally robots (UARs), such as grasping hands cable-driven parallel (CDPRs), these cannot be applied due to unilateral constraint. In paper, (UD) maximum force amplification (UMFA) are established UARs with arbitrary number actuators. It shown...

Current robotic haptic object recognition relies on statistical measures derived from movement dependent interaction signals such as force, vibration or position. Mechanical properties, which can be estimated these signals, are intrinsic properties that may yield a more robust representation. Therefore, this paper proposes an framework using multiple representative mechanical properties: stiffness, viscosity and friction coefficient well the of restitution, has been rarely used to recognise...

During daily activities, humans routinely manipulate objects bimanually or with the help of a partner. This work explored how bimanual and dyadic coordination modes are impacted by object's stiffness, which conditions inter-limb haptic communication. For this, we recruited 20 healthy participants who performed virtual task inspired object handling, where looked at initiation force exchange its continued maintenance while tracking. Our findings suggest that individuals dyads displayed...

Supernumerary effectors have been proposed to enable users perform tasks alone that normally require assistance from a partner. While various supernumerary robotic limbs developed in the last decade, capability of operate them effectively has not yet proven. Here we tested whether (i) can complete task requires simultaneous and fine control three effectors, (ii) be trained do so with similar or superior performance as through collaboration human As previous studies, initial augmented was...

Teleoperation is increasingly recognized as a viable solution for deploying robots in hazardous environments. Controlling robot to perform complex or demanding task may overload operators resulting poor performance. To design controller assist the human executing such challenging tasks, comprehensive understanding of interplay between robot's autonomous behavior and operator's internal state essential. In this paper, we investigate relationships autonomy both user's cognitive load trust...

Many teleoperation tasks require three or more tools working together, which need the cooperation of multiple operators. The effectiveness such schemes may be limited by communication issues between individuals. Trimanipulation a single operator using an artificial third arm controlled together with their natural arms address this issue. Foot-controlled interfaces have previously shown capability to used for continuous control robot arms. However, use controlling supernumerary robotic limb...