5 papers · 1 filter
The Use of Implicit Human Motor Behaviour in the Online Personalisation of Prosthetic Interfaces
Ricardo Garcia-Rosas, Tianshi Yu, Denny Oetomo +3
In previous work, the authors proposed a data-driven optimisation algorithm for the personalisation of human-prosthetic interfaces, demonstrating the possibility of adapting prosth…
Task-space Synergies for Reaching using Upper-limb Prostheses
Ricardo Garcia-Rosas, Denny Oetomo, Chris Manzie +2
Synergistic prostheses enable the coordinated movement of the human-prosthetic arm, as required by activities of daily living. This is achieved by coupling the motion of the prosth…
Control Barrier Functions for Mechanical Systems: Theory and Application to Robotic Grasping
Wenceslao Shaw Cortez, Denny Oetomo, Chris Manzie +1
Control barrier functions have been demonstrated to be a useful method of ensuring constraint satisfaction for a wide class of controllers, however existing results are mostly rest…
Personalized On-line Adaptation of Kinematic Synergies for Human-Prosthesis Interfaces
Ricardo Garcia-Rosas, Ying Tan, Denny Oetomo +2
Synergies have been adopted in prosthetic limb applications to reduce complexity of design, but typically involve a single synergy setting for a population and ignore individual pr…
Grasp Constraint Satisfaction for Object Manipulation using Robotic Hands
Wenceslao Shaw Cortez, Denny Oetomo, Chris Manzie +1
For successful object manipulation with robotic hands, it is important to ensure that the object remains in the grasp at all times. In addition to grasp constraints associated with…