Dan O. Popa
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View article: A Dual-Validation Framework for Temporal Robustness Assessment in Brain-Computer Interfaces for Motor Imagery
A Dual-Validation Framework for Temporal Robustness Assessment in Brain-Computer Interfaces for Motor Imagery Open
Brain–computer interfaces using motor imagery (MI-BCIs) offer a promising noninvasive communication pathway between humans and engineered equipment such as robots. However, for MI-BCIs based on electro encephalography (EEG) the reliability…
View article: Acceptance of an Adaptive Robotic Nursing Assistant for Ambulation Tasks
Acceptance of an Adaptive Robotic Nursing Assistant for Ambulation Tasks Open
The effective use of nursing assistant robots requires an understanding of key acceptance factors. The study examined the differences in attitudes among 58 nursing students while performing ambulation tasks with and without an Adaptive Rob…
View article: Acceptance of an Adaptive Nursing Assistant Robot for Ambulation Tasks
Acceptance of an Adaptive Nursing Assistant Robot for Ambulation Tasks Open
Effective use of nursing assistant robots requires understanding of key acceptance factors. The study examined the differences in attitudes among 58 nursing students while performing the ambulation tasks with and without an Adaptive Robot …
View article: Optimizing Local Explainability in Robotic Grasp Failure Prediction
Optimizing Local Explainability in Robotic Grasp Failure Prediction Open
This paper presents a local explainability mechanism for robotic grasp failure prediction that enhances machine learning transparency at the instance level. Building upon pre hoc explainability concepts, we develop a neighborhood-based opt…
View article: Comparative Analysis of Post Hoc Explainable Methods for Robotic Grasp Failure Prediction
Comparative Analysis of Post Hoc Explainable Methods for Robotic Grasp Failure Prediction Open
In human–robot collaborative environments, predicting and explaining robotic grasp failures is crucial for effective operation. While machine learning models can predict failures accurately, they often lack transparency, limiting their uti…
View article: Multimodal Sensing and Machine Learning to Compare Printed and Verbal Assembly Instructions Delivered by a Social Robot
Multimodal Sensing and Machine Learning to Compare Printed and Verbal Assembly Instructions Delivered by a Social Robot Open
In this paper, we compare a manual assembly task communicated to workers using both printed and robot-delivered instructions. The comparison was made using physiological signals (blood volume pulse (BVP) and electrodermal activity (EDA)) c…
View article: Personalized Speech Emotion Recognition in Human-Robot Interaction using Vision Transformers
Personalized Speech Emotion Recognition in Human-Robot Interaction using Vision Transformers Open
Emotions are an essential element in verbal communication, so understanding individuals' affect during a human-robot interaction (HRI) becomes imperative. This paper investigates the application of vision transformer models, namely ViT (Vi…
View article: MIRA: Multi-Joint Imitation with Recurrent Adaptation for Robot-Assisted Rehabilitation
MIRA: Multi-Joint Imitation with Recurrent Adaptation for Robot-Assisted Rehabilitation Open
This work proposes a modular learning framework (MIRA) for rehabilitation robots based on a new deep recurrent neural network (RNN) that achieves adaptive multi-joint motion imitation. The RNN is fed with the fundamental frequencies as wel…
View article: Board 83: Work in Progress: The Magic Orb: A Mechatronics Demonstration and Course Project to Attract Next-generation Engineering Students
Board 83: Work in Progress: The Magic Orb: A Mechatronics Demonstration and Course Project to Attract Next-generation Engineering Students Open
Open-house events hosted at university labs for K-12 students, typically feature academic research which often requires prior knowledge of the field to fully appreciate its significance. This disconnection often fails to capture the intere…
View article: Investigating flow induced mechanics of strain-engineered microcantilevers integrated in a flow-through system
Investigating flow induced mechanics of strain-engineered microcantilevers integrated in a flow-through system Open
In this work we report the fabrication of stress-driven curled-up microcantilevers based on a metal-oxide bilayer design and their mechanical characterization in a flow-through system. Microcantilever arrays are realized by using conventio…
View article: Design, Fabrication, and Characterization of Inkjet-Printed Organic Piezoresistive Tactile Sensor on Flexible Substrate
Design, Fabrication, and Characterization of Inkjet-Printed Organic Piezoresistive Tactile Sensor on Flexible Substrate Open
In this paper, we propose a novel tactile sensor with a “fingerprint” design, named due to its spiral shape and dimensions of 3.80 mm × 3.80 mm. The sensor is duplicated in a four-by-four array containing 16 tactile sensors to form a “Skin…
View article: In-Process Orbiting Laser-Assisted Technique for the Surface Finish in Material Extrusion-Based 3D Printing
In-Process Orbiting Laser-Assisted Technique for the Surface Finish in Material Extrusion-Based 3D Printing Open
Material extrusion-based polymer 3D printing, one of the most commonly used additive manufacturing processes for thermoplastics and composites, has drawn extensive attention due to its capability and cost effectiveness. However, the low su…
View article: Precise Fabrication of Tactile Sensors using a Custom Additive Manufacturing Platform
Precise Fabrication of Tactile Sensors using a Custom Additive Manufacturing Platform Open
This paper presents the NeXus, a precision robotic platform with additive manufacturing capabilities that can be used to prototype strain gauge-based tactile sensors – SkinCells - on flexible substrates. An Aerosol Inkjet printer was emplo…
View article: Learning Control of a Laser-Driven Locomotive Microrobot for Dry Environments
Learning Control of a Laser-Driven Locomotive Microrobot for Dry Environments Open
In this paper, we introduce the SerpenBot, a microrobot smaller than 1mm in size, powered by laser energy, and designed to operate in dry environments. The microrobot achieves locomotion on a Si substrate by selective coupling of laser ene…
View article: MEMS-based Electronic Textiles Fabricated with Multi-robot Collaboration
MEMS-based Electronic Textiles Fabricated with Multi-robot Collaboration Open
This paper presents a methodology to fabricate wafer-scale electronic textiles that is a combination of MEMS-based microclamps and fabric textiles. We describe the capability of deterministic aligning and fastening textile layers with MEMS…
View article: Robotic Nursing Assistant Applications and Human Subject Tests through Patient Sitter and Patient Walker Tasks
Robotic Nursing Assistant Applications and Human Subject Tests through Patient Sitter and Patient Walker Tasks Open
This study presents the implementation of basic nursing tasks and human subject tests with a mobile robotic platform (PR2) for hospital patients. The primary goal of this study is to define the requirements for a robotic nursing assistant …
View article: Augmented Reality in Surgical Oncology. A Literature Review
Augmented Reality in Surgical Oncology. A Literature Review Open
Introduction: Augmented reality (AR) devices enable doctors to associate visualizing diagnostic data, to establish therapeutic procedures in order to improve work efficiency and safety and to develop the surgical training of young doctors.…
View article: Speech characteristics of children with ASD to a humanoid robot and peers
Speech characteristics of children with ASD to a humanoid robot and peers Open
Children with Autism Spectrum Disorder (ASD) display difficulty engaging in social interactions. How does the use of a NAO robot during a social skills intervention affect the speech of children with ASD? This study examined whether the us…
View article: Clinical-Pathological Correlations in the Acute Surgical Abdomen in the Pre and Post-Pandemic Period Covid-19
Clinical-Pathological Correlations in the Acute Surgical Abdomen in the Pre and Post-Pandemic Period Covid-19 Open
Background: In the case of patients admitted with acute abdomen at the emergency department, interstitial pulmonary pathology (Covid-19 infections) represents a significant operative risk for the patients. The rate of postoperative complic…
View article: Acceptability of Using a Robotic Nursing Assistant in Health Care Environments: Experimental Pilot Study
Acceptability of Using a Robotic Nursing Assistant in Health Care Environments: Experimental Pilot Study Open
Background According to the US Bureau of Labor Statistics, nurses will be the largest labor pool in the United States by 2022, and more than 1.1 million nursing positions have to be filled by then in order to avoid a nursing shortage. In a…
View article: Using Facially Expressive Robots to Calibrate Clinical Pain Perception
Using Facially Expressive Robots to Calibrate Clinical Pain Perception Open
In this paper, we introduce a novel application of social robotics in healthcare: high fidelity, facially expressive, robotic patient simulators (RPSs), and explore their usage within a clinical experimental context. Current commercially-a…
View article: Concurrent surface electromyography and force myography classification during times of prosthetic socket shift and user fatigue
Concurrent surface electromyography and force myography classification during times of prosthetic socket shift and user fatigue Open
Objective Surface electromyography has been a long-standing source of signals for control of powered prosthetic devices. By contrast, force myography is a more recent alternative to surface electromyography that has the potential to enhanc…
View article: Human-like object tracking and gaze estimation with PKD android
Human-like object tracking and gaze estimation with PKD android Open
As the use of robots increases for tasks that require human-robot interactions, it is vital that robots exhibit and understand human-like cues for effective communication. In this paper, we describe the implementation of object tracking ca…