Publications (14)
Motor Control Insights on Walking Planner and its Stability
Carlo Tiseo, Kalyana C Veluvolu, Wei Tech Ang
The application of biomechanic and motor control models in the control of bidedal robots (humanoids, and exoskeletons) has revealed limitations of our understanding of human locomo…
Design of a Breakaway Utensil Attachment for Enhanced Safety in Robot-Assisted Feeding
Hau Wen Chang, J-Anne Yow, Lek Syn Lim +1
Robot-assisted feeding systems enhance the independence of individuals with motor impairments and alleviate caregiver burden. While existing systems predominantly rely on software-…
Detecting Heel Strike and toe off Events Using Kinematic Methods and LSTM Models
Longbin Zhang, Zhizhang Li, Xinyi Fu +10
Accurate gait event detection is crucial for gait analysis, rehabilitation, and assistive technology, particularly in exoskeleton control, where precise identification of stance an…
DRBA: Dynamic Robotic Balance Assistant -- An assist-as-needed gait and balance rehabilitation robot for versatile training
Yifan Wang, Li Li, Youlong Wang +9
The decline of human balance control due to aging and pathological conditions increases fall risk, a major concern in geriatric care and rehabilitation. Gait training is essential…
Beyond Heuristics: A Standardized Real2Sim Pipeline for Physical Human Robot Interaction in Human-in-the-Loop Simulation
Chengyuan Yang, Yifan Wang, Chun Kwang Tan +5
The aging global population drives demand for assistive robots, yet the safety risks and costs of physical testing make Human-in-the-Loop (HITL) simulation an attractive alternativ…
Simulating Safe Bite Transfer in Robot-Assisted Feeding with a Soft Head and Articulated Jaw
Yi Heng San, Vasanthamaran Ravichandram, J-Anne Yow +3
Ensuring safe and comfortable bite transfer during robot-assisted feeding is challenging due to the close physical human-robot interaction required. This paper presents a novel app…
Graceful User Following for Mobile Balance Assistive Robot in Daily Activities Assistance
Yifan Wang, Meng Yuan, Lei Li +3
Numerous diseases and aging can cause degeneration of people's balance ability resulting in limited mobility and even high risks of fall. Robotic technologies can provide more inte…
Safety-based Speed Control of a Wheelchair using Robust Adaptive Model Predictive Control
Meng Yuan, Ye Wang, Lei Li +2
Electric-powered wheelchair plays an important role in providing accessibility for people with mobility impairment. Ensuring the safety of wheelchair operation in different applica…
A Human-In-The-Loop Simulation Framework for Evaluating Control Strategies in Gait Assistive Robots
Yifan Wang, Sherwin Stephen Chan, Mingyuan Lei +4
As the global population ages, effective rehabilitation and mobility aids will become increasingly critical. Gait assistive robots are promising solutions, but designing adaptable…
Design and Evaluation of a Compact 3D End-effector Assistive Robot for Adaptive Arm Support
Sibo Yang, Lincong Luo, Wei Chuan Law +3
We developed a 3D end-effector type of upper limb assistive robot, named as Assistive Robotic Arm Extender (ARAE), that provides transparency movement and adaptive arm support cont…
Deployment of the Saddle Space Transformation in Tracking the Base of Support
Carlo Tiseo, Ming Jeat Foo, Kalyana C Veluvolu +1
Balance is the fundamental skill behind human locomotion, and its impairment is the principal indicator of self-perceived disability. Despite significant improvements in balance as…
ExTraCT -- Explainable Trajectory Corrections from language inputs using Textual description of features
J-Anne Yow, Neha Priyadarshini Garg, Manoj Ramanathan +1
Natural language provides an intuitive and expressive way of conveying human intent to robots. Prior works employed end-to-end methods for learning trajectory deformations from lan…
The Strange Attractor Model of Bipedal Locomotion and its Consequences on Motor Control
Carlo Tiseo, Ming Jeat Foo, Kalyana C Veluvolu +2
Despite decades of study, many unknowns exist about the mechanisms governing human locomotion. Current models and motor control theories can only partially capture the phenomenon.…
Personalised 3D Human Digital Twin with Soft-Body Feet for Walking Simulation
Kum Yew Loke, Sherwin Stephen Chan, Mingyuan Lei +3
With the increasing use of assistive robots in rehabilitation and assisted mobility of human patients, there has been a need for a deeper understanding of human-robot interactions…