8 papers
Leveraging Synthetic Adult Datasets for Unsupervised Infant Pose Estimation
Sarosij Bose, Hannah Dela Cruz, Arindam Dutta +3
Human pose estimation is a critical tool across a variety of healthcare applications. Despite significant progress in pose estimation algorithms targeting adults, such developments…
Analysis of Forces Exerted by Shoulder and Elbow Fabric-based Pneumatic Actuators for Pediatric Exosuits
Mehrnoosh Ayazi, Ipsita Sahin, Caio Mucchiani +2
To enhance pediatric exosuit design, it is crucial to assess the actuator-generated forces. This work evaluates the contact forces exerted by soft fabric-based pneumatic actuators…
Force Profiling of a Shoulder Bidirectional Fabric-based Pneumatic Actuator for a Pediatric Exosuit
Mehrnoosh Ayazi, Ipsita Sahin, Caio Mucchiani +2
This paper presents a comprehensive analysis of the contact force profile of a single-cell bidirectional soft pneumatic actuator, specifically designed to aid in the abduction and…
Robust Generalized Proportional Integral Control for Trajectory Tracking of Soft Actuators in a Pediatric Wearable Assistive Device
Caio Mucchiani, Zhichao Liu, Ipsita Sahin +2
Soft robotics hold promise in the development of safe yet powered assistive wearable devices for infants. Key to this is the development of closed-loop controllers that can help re…
A Fabric-based Pneumatic Actuator for the Infant Elbow: Design and Comparative Kinematic Analysis
Ipsita Sahin, Mehrnoosh Ayazi, Caio Mucchiani +3
This paper focuses on the design and systematic evaluation of fabric-based, bellow-type soft pneumatic actuators to assist with flexion and extension of the elbow, intended for use…
Using Infant Limb Movement Data to Control Small Aerial Robots
Georgia Kouvoutsakis, Elena Kokkoni, Konstantinos Karydis
Promoting exploratory movements through contingent feedback can positively influence motor development in infancy. Our ongoing work gears toward the development of a robot-assisted…
A Bidirectional Fabric-based Pneumatic Actuator for the Infant Shoulder: Design and Comparative Kinematic Analysis
Ipsita Sahin, Jared Dube, Caio Mucchiani +2
This paper presents the design and assessment of a fabric-based soft pneumatic actuator with low pressurization requirements for actuation making it suitable for upper extremity as…
Closed-loop Position Control of a Pediatric Soft Robotic Wearable Device for Upper Extremity Assistance
Caio Mucchiani, Zhichao Liu, Ipsita Sahin +4
This work focuses on closed-loop control based on proprioceptive feedback for a pneumatically-actuated soft wearable device aimed at future support of infant reaching tasks. The de…