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Showing result 1 - 5 of 7 swedish dissertations matching the above criteria.

  2. 1. Input Estimation for Teleoperation : Using Minimum Jerk Human Motion Models to Improve Telerobotic Performance

    Author : Christian Smith; Patric Jensfelt; Herman Bruyninckx; KTH; []
    Keywords : NATURVETENSKAP; NATURAL SCIENCES; Robot; Teleoperation; Human Motion Models; Computer science; Datavetenskap;

    Abstract : This thesis treats the subject of applying human motion models to create estimators for the input signals of human operators controlling a telerobotic system.In telerobotic systems, the control signal input by the operator is often treated as a known quantity. However, there are instances where this is not the case. READ MORE

  4. 2. Learning Behavior Trees for Collaborative Robotics

    Author : Matteo Iovino; Christian Smith; Karinne Ramírez-Amaro; KTH; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Collaborative Robotics; Behavior Trees; Datalogi; Computer Science;

    Abstract : This thesis aims to address the challenge of generating task plans for robots in industry-relevant scenarios. With the increase in small-batch production, companies require robots to be reprogrammed frequently for new tasks. However, maintaining a team of operators with specific programming skills is only cost-efficient for large-scale production. READ MORE

  5. 3. Facilitating Exoskeletons in Daily Use : Simulations and Predictions for Design and Control

    Author : Yi-Xing Liu; Elena Gutierrez-Farewik; Ruoli Wang; Christian Smith; Shaoping Bai; KTH; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Robotic Exoskeletons; Engineering Mechanics; Teknisk mekanik;

    Abstract : Lower limb exoskeletons have been extensively developed over the last several decades for people with and without movement disorders. Although lower limb exoskeletons have been shown to provide effective assistance to improve gait and reduce metabolic cost during movements, they are often heavy, bulky and uncomfortable. READ MORE

  6. 4. About Physical Human Robotic Interaction for Assistive Exoskeletons

    Author : Nauman Masud; Magnus Isaksson; Christian Smith; Shaoping Bai; KTH; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Computer Science; Datalogi;

    Abstract : The thesis work has contributed to the field of assistive robotics. The physical interaction between the exoskeleton and human has been studied by considering performance both at the joint as well as task space level of the exoskeleton. READ MORE

  7. 5. Human motion prediction using wearable sensors and machine Learning

    Author : Binbin Su; Elena M. Gutierrez-Farewik; Christian Smith; Neil Cronin; KTH; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; wearable sensors; gait segmentation; lower limb angular velocity; machine learning; deep learning; reinforcement learning; Engineering Mechanics; Teknisk mekanik;

    Abstract : Accurately measuring and predicting human movement is important in many contexts, such as in rehabilitation and the design of assistive devices. Thanks to the development and availability of a wide variety of sensors, scientists study human movement in many settings and capture characteristic properties unique to individuals as well as to larger study populations. READ MORE