After stroke, impairment of hand sensorimotor control leads to improperly scaled and directed fingertip forces that disrupt object manipulation. The objective of this study was to determine the ...

Abstract: Optimizing footholds as well as their exact transition trajectories during swing phase is computationally expensive hence can not satisfy the real-time requirements when traversing ...

Abstract: For a class of spatio-temporal tasks defined by a fragment of Signal Temporal Logic (STL), we construct a nonsmooth time-varying control barrier function (CBF) and develop a controller based ...