Outputs (282)

Achieving goals using reward shaping and curriculum learning (2023)
Presentation / Conference Contribution

Real-time control for robotics is a popular research area in the reinforcement learning community. Through the use of techniques such as reward shaping, researchers have managed to train online agents across a multitude of domains. Despite these adva... Read More about Achieving goals using reward shaping and curriculum learning.

Ethical assessment of a hospital disinfection robot (2023)
Presentation / Conference Contribution

Robots have the potential to deliver very positive impacts for society, however, it's critical that in preparing for real-world deployments, we recognize and take steps to mitigate against the potential harms, both direct and indirect, that they may... Read More about Ethical assessment of a hospital disinfection robot.

Hear here: Sonification as a design strategy for robot teleoperation using virtual reality (2023)
Presentation / Conference Contribution

This paper introduces a novel methodology for the sonification of data, and shares the results of a usability study, putting the method- ology into practice within an industrial use case. Working with partners at Sellafield nuclear facility, we explo... Read More about Hear here: Sonification as a design strategy for robot teleoperation using virtual reality.

A soft fabric-based shrink-to-fit pneumatic sleeve for comfortable limb assistance (2022)
Presentation / Conference Contribution

Upper limb impairments and weakness are com-mon post-stroke and with advanced aging. Rigid exoskeletons have been developed as a potential solution, but have had limited impact. In addition to user concerns about safety, their weight and appearance,... Read More about A soft fabric-based shrink-to-fit pneumatic sleeve for comfortable limb assistance.

Pressure and angle sensors with optical fiber for instrumentation of the PrHand hand prosthesis (2022)
Presentation / Conference Contribution

The principal cause of upper limb amputations is due to traumatism. The prosthesis is an assistive device to help in the activities of daily for the amputee person. However, one of the latest reports shows that in developing countries there are aroun... Read More about Pressure and angle sensors with optical fiber for instrumentation of the PrHand hand prosthesis.

Haptic teleoperation goes wireless: Evaluation and benchmarking of a high-performance low-power wireless control technology (2022)
Presentation / Conference Contribution

Communication delays and packet losses are commonly investigated issues in the area of robotic teleoperation. This paper investigates application of a novel low-power wireless control technology (GALLOP) in a haptic teleoperation scenario developed t... Read More about Haptic teleoperation goes wireless: Evaluation and benchmarking of a high-performance low-power wireless control technology.

The PrHand: Functional assessment of an underactuated soft-robotic prosthetic hand (2022)
Presentation / Conference Contribution

Functional tests aim to compare the functionality of a prosthesis with a human hand. The main objective of this work is to present and evaluate an affordable prosthesis (PrHand) built with soft robotic technologies and novel joints based on compliant... Read More about The PrHand: Functional assessment of an underactuated soft-robotic prosthetic hand.

Open-source re-configurable interfacing of Tobii Pro Glasses 2 with ROS2 (2022)
Presentation / Conference Contribution

Gaze tracking is a powerful assistive tool enabling people with severe disabilities to interact with complex systems intuitively. Among these, screen-based gaze-control is one of the main input tools used with people with severe mobility impairments,... Read More about Open-source re-configurable interfacing of Tobii Pro Glasses 2 with ROS2.

Optical fiber angle sensors for the PrHand prosthesis: Development and application in grasp types recognition with machine learning (2022)
Presentation / Conference Contribution

This work presents the instrumentation of the PrHand upper-limb prosthesis with optical fiber sensors to measure the angle of the proximal interphalangeal joint. The angle sensors are based on bending-induced loss and are fabricated with polymer opti... Read More about Optical fiber angle sensors for the PrHand prosthesis: Development and application in grasp types recognition with machine learning.

Mirror-based robotic therapy for ankle recovery with a serious game: A case study with a neurological patient (2022)
Presentation / Conference Contribution

Neuromuscular disorders, such as foot drop, severely affect the locomotor function and walking independence after a brain injury event. Mirror-based robotic therapy (MRT) has been a promising rehabilitation strategy favouring upper limb muscle streng... Read More about Mirror-based robotic therapy for ankle recovery with a serious game: A case study with a neurological patient.

Three study cases of social robotics in autism spectrum disorder treatment: Personalization and usability of CASTOR robot (2022)
Presentation / Conference Contribution

Social assistive robotics in autism has been implemented in studies and therapies to improve social skills and encourage children to comply with therapies. However, autism symptoms vary in their spectrum, which generates difficulties in implementing... Read More about Three study cases of social robotics in autism spectrum disorder treatment: Personalization and usability of CASTOR robot.

Load bearing, compliant manipulator using non-linear frictional elements (2022)
Presentation / Conference Contribution

Tendon driven continuum manipulators have advantages such as being able to deform around and through their environment, but this typically comes at the cost of reduced precision and load bearing capabilities. This paper presents a strong, compliant m... Read More about Load bearing, compliant manipulator using non-linear frictional elements.

Integrating spiking neural networks and deep learning algorithms on the neurorobotics platform (2022)
Presentation / Conference Contribution

We present a neurorobotic model that can associate self motion (odometry) with vision to correct for drift in a spiking neural network model of head direction based closely on known rodent neurophys-iology. We use a deep predictive coding network to... Read More about Integrating spiking neural networks and deep learning algorithms on the neurorobotics platform.

WhiskEye: A biomimetic model of multisensory spatial memory based on sensory reconstruction (2021)
Presentation / Conference Contribution

We present WhiskEye, a visual tactile robot supporting a neurorobotic investigation of spatial memory as a multisensory reconstructive process. This article outlines the motivation for building WhiskEye; the technical details of the physical robot, a... Read More about WhiskEye: A biomimetic model of multisensory spatial memory based on sensory reconstruction.

Training needs for future healthcare professionals using assistive robots in health and social care: Exploring the role of system users and staff in safety assurance in the real-world (2021)
Presentation / Conference Contribution

Modelling of the materials classification of in-orbit debris using DISCOSweb and other sources (2021)
Presentation / Conference Contribution

Space debris is a topic of growing concern as the space industry evolves. This paper describes the findings of a new model used to classify the materials used in current orbital objects. It utilises data from sources including ESA’s DISCOS (Database... Read More about Modelling of the materials classification of in-orbit debris using DISCOSweb and other sources.

Standards and regulations for physically assistive robots**Research supported by Lloyds Register Foundation, under the Assuring Antonomy International Programme (2021)
Presentation / Conference Contribution

In this paper we consider the regulations that currently exist in relation to supporting people in the home and in different care settings. Using existing standards and guidelines that relate to assistive technology and care in the UK, we consider wh... Read More about Standards and regulations for physically assistive robots**Research supported by Lloyds Register Foundation, under the Assuring Antonomy International Programme.

Sample and time efficient policy learning with CMA-ES and Bayesian Optimisation (2020)
Presentation / Conference Contribution

In evolutionary robot systems where morphologies and controllers of real robots are simultaneously evolved, it is clear that there is likely to be requirements to refine the inherited controller of a ‘newborn’ robot in order to better align it to its... Read More about Sample and time efficient policy learning with CMA-ES and Bayesian Optimisation.

Usability study of a robot companion for monitoring industrial processes (2020)
Presentation / Conference Contribution

In this paper we present the findings of a usability study for a monitoring robotic unit tele-operated via a virtual fixtures (VF) based control framework. The study aims at investigating the impact of VF on the robot navigation as well as the impact... Read More about Usability study of a robot companion for monitoring industrial processes.

The effect of virtual reality control of a robotic surrogate on presence and social presence in comparison to telecommunications software (2020)
Presentation / Conference Contribution

Telecommunication software is often used to tackle social isolation in those with restricted mobility, but lacks high-level interactions found in face-to-face conversation. This study investigated the use of an immersive control system for a robotic... Read More about The effect of virtual reality control of a robotic surrogate on presence and social presence in comparison to telecommunications software.