Human-robot colaboration: first tests with HOAP3

Some results obtained in a human-robot colaboration experiment. All tasks were executed using the cooperative dual task-space framework proposed by Bruno Adorno and Philippe Fraisse. The setup included a HOAP3 humanoid robot, an easyTrack 500 optical tracking system, and real-time visualization.

Tremor compensation using FES: co-contraction to increase joint stability

Demo of a tremor compensation system using electrical stimulation. Based on information from portable sensors, the controller applies higher currents for stronger tremors. Tremor is induced with an auxiliary stimulator.

Using FES to control joint dynamics: system identification

In this demo we show an experiment to estimate both passive and active parameters of the wrist joint controlled by surface electrical stimulation.

Beating heart motion prediction for robust visual tracking

In the context of motion compensation systems for applications on cardiac robotic-assisted Minimally Invasive Surgery (MIS), vision-based techniques have a great potential. In this video, an Extended Kalman Filter (EKF) is used to estimate a model for heart 3D motion in order to support the vision algorithm.