assistive-robotics

Assistive Gym, a physics-based simulation framework for physical human-robot interaction and robotic assistance.

Assistive and Rehabilitative Robotics

[RA-L] DRAGON: A Dialogue-Based Robot for Assistive Navigation with Visual Language Grounding

RoboTour is a robotic tour guide that assists people in environments such as museums or art galleries. The system comprises of an autonomous robotic guide, a purpose built Android application, and a web server mediating the communication between the two.

Deep learning scripts used to accurately predict human-robot system dynamics for future prosthesis control methods

Transformer-based EEG intent detection model classifying real vs. imagined movements for assistive robotics applications.

This is the code used for the paper submission for the exotendon simulation study.

MATLAB research code for user-independent sEMG hand-gesture recognition and powered-wheelchair control using multiclass SVM/ECOC, associated with Iqbal et al. (2024).

Safety-Constrained Reinforcement Learning for Assistive Robot Navigation

AI research assistant for prosthetics, orthotics & rehabilitation robotics papers. RAG pipeline with streaming citations, structured summaries, terminology extraction, and paper comparison. Built with Next.js 15, Claude, pgvector. Includes observability tracing and DeepEval evaluation pipeline.

Behavior programs of the Dienen mobile assistive robot

Transformer-based EMG intent detection for enhanced motor recognition in assistive robotics.

In this repository, steppers motors are synchronized to control 6DOF manipulator for assistive robot applications. In addition, MATLAB-Arduino communication is set in order to send the kinematics solution to the robot. Moreover, special functions are implemented such as joints calibration, homing, and end position.

Modular Python toolkit for trajectory behaviour analysis and risk scoring of neural motion predictors — REXASI-PRO Project, University of Genoa

Deep Learning models to fuse imu-based motion capture and first-person video data to improve the prediction of future knee and ankle joint kinematics, in complex real-world environments.

IX-HapticSight: open safety authority for AI-controlled robots/XR. RGB-D perception→3D hazards→ALLOW/MODIFY/DENY physical action, with consent, force/tactile/proximity/thermal gating, ROS2 control, recovery, WebXR, replayable evidence & 183 tested checks. MIT + Responsible Use.

Modular safety-first control architecture for a human-in-the-loop active elbow orthosis with EMG, IMU, simulation, and bounded ML. Researching how assistive robotic systems should determine appropriate assistance under uncertain sensing conditions.

Gazebo simulator's plugins for Dienen mobile assistive robot simulation

Grúa para Traslado de Personas con Retos Físicos

Project of a human-following wheelchair as an autonomous assistive device for safe at-home rehabilitation for the EPFL class BIOENG-486, Fall 2021.