Abstract: A vehicle system includes a steering wheel configured to output an output based on an input from a user, and a controller configured to: determine a target orientation of front wheels of a vehicle based on vehicle environment information, determine whether an orientation of the front wheels of the vehicle based on the output from the steering wheel deviates from the target orientation, disengage the steering wheel from the front wheels in response to determination that the orientation of the front wheels deviates from the target orientation, adjust the orientation of the front wheels to the target orientation and provide a feedback in response to adjusting the orientation of the front wheels to the target orientation.

Abstract: An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.

Abstract: A vehicle system includes a steering wheel configured to output an output based on an input from a user, and a controller configured to: determine a target orientation of front wheels of a vehicle based on vehicle environment information, determine whether an orientation of the front wheels of the vehicle based on the output from the steering wheel deviates from the target orientation, disengage the steering wheel from the front wheels in response to determination that the orientation of the front wheels deviates from the target orientation, adjust the orientation of the front wheels to the target orientation and provide a feedback in response to adjusting the orientation of the front wheels to the target orientation.

Abstract: A vehicle system for operating a vehicle is provided. The vehicle system includes a first output device configured to output a first output, and a second output device configured to output a second output. The vehicle system operates the vehicle based on the first output from the first output device while obtaining vehicle environment information, determines whether an autonomous take-over event occurs based on the vehicle environment information, operates the vehicle in an autonomous driving mode in response to determining that the autonomous takeover event occurred, determines whether the vehicle system receives a take-over signal from the second output device, and operates the vehicle based on the second output from the second output device in response to determining that the vehicle system received the take-over signal from the second output device.

Abstract: Systems, methods, and other embodiments described herein relate to acquiring embedded information from a roadway. In one embodiment, a method includes, in response to receiving a reflected signal resulting from a scanning signal interacting with the roadway, analyzing the reflected signal to detect a roadway signature embedded within the roadway. The method includes computing an identifier of the roadway signature as a function of features associated with the roadway signature that are embodied within the reflected signal. The method includes providing the embedded information about the roadway according to the identifier.

Abstract: System, methods, and other embodiments described herein relate to localizing a vehicle on a roadway. In one embodiment, a method includes, in response to detecting one or more indicators of a roadway signature within a reflected signal from the roadway, acquiring a fix on the roadway signature as a function of the one or more indicators that identify at least a segment of the roadway signature. The method includes localizing the vehicle on the roadway by correlating the roadway signature with a signature mapping that identifies a location for the segment of the roadway signature on the roadway.

Abstract: A vehicle system for operating a vehicle is provided. The vehicle system includes a first output device configured to output a first output, and a second output device configured to output a second output. The vehicle system operates the vehicle based on the first output from the first output device while obtaining vehicle environment information, determines whether an autonomous take-over event occurs based on the vehicle environment information, operates the vehicle in an autonomous driving mode in response to determining that the autonomous takeover event occurred, determines whether the vehicle system receives a take-over signal from the second output device, and operates the vehicle based on the second output from the second output device in response to determining that the vehicle system received the take-over signal from the second output device.

Abstract: System, methods, and other embodiments described herein relate to detecting markers on a roadway. In one embodiment, a method includes controlling a radar to transmit a scanning signal with defined characteristics. The radar is integrated with a vehicle that is traveling on the roadway. The method includes, in response to receiving a reflected signal resulting from the scanning signal interacting with the roadway, identifying the marker from the reflected signal according to an electromagnetic signature of the marker embodied in the reflected signal. The electromagnetic signature is a response induced within the defined characteristics of the scanning signal that is embodied within the reflected signal.

Abstract: System, methods, and other embodiments described herein relate to acquiring embedded information from a roadway. In one embodiment, a method includes, in response to receiving a reflected signal resulting from a scanning signal interacting with the roadway, analyze the reflected signal to detect a roadway signature embedded within the roadway. The method includes computing an identifier of the roadway signature as a function of features associated with the roadway signature that are embodied within the reflected signal. The method includes providing the embedded information about the roadway according to the identifier.

Abstract: System, methods, and other embodiments described herein relate to localizing a vehicle on a roadway. In one embodiment, a method includes, in response to detecting one or more indicators of a roadway signature within a reflected signal from the roadway, acquiring a fix on the roadway signature as a function of the one or more indicators that identify at least a segment of the roadway signature. The method includes localizing the vehicle on the roadway by correlating the roadway signature with a signature mapping that identifies a location for the segment of the roadway signature on the roadway.

Abstract: System, methods, and other embodiments described herein relate to detecting markers on a roadway. In one embodiment, a method includes controlling a radar to transmit a scanning signal with defined characteristics. The radar is integrated with a vehicle that is traveling on the roadway. The method includes, in response to receiving a reflected signal resulting from the scanning signal interacting with the roadway, identifying the marker from the reflected signal according to an electromagnetic signature of the marker embodied in the reflected signal. The electromagnetic signature is a response induced within the defined characteristics of the scanning signal that is embodied within the reflected signal.

Abstract: System, methods, and other embodiments described herein relate to improving vigilance and readiness of an operator in a vehicle that includes an augmented reality (AR) display. In one embodiment, a method includes computing an engagement level of the operator to characterize an extent of vigilance decrement and readiness presently exhibited by the operator relative to operating characteristics of the vehicle including an external environment around the vehicle and at least semi-autonomous operation of the vehicle. The method includes dynamically rendering, on the AR display, graphical elements by varying visual characteristics of the at least one graphical element as a function of the engagement level and based, at least in part, on sensor data about the external environment. Dynamically rendering the at least one graphical element improves the at least semi-autonomous operation of the vehicle through inducing vigilance and readiness within the operator with respect to the operating characteristics.

Abstract: System, methods, and other embodiments described herein relate to mitigating vigilance decrement of a vehicle operator. In one embodiment, a method includes monitoring the operator by collecting operator state information using at least one sensor of the vehicle. The method includes computing an engagement level of the operator according to a vigilance model and the operator state information to characterize an extent of vigilance decrement presently experienced by the operator. The method includes rendering, on an augmented reality (AR) display, at least one graphical element as a function of the engagement level to induce the operator to maintain vigilance with respect to operation of the vehicle and a present operating environment around the vehicle.

Abstract: An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.

Abstract: An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.

Abstract: An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.

Abstract: An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.

Abstract: An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.

Abstract: A haptic simulation method determines a location of a needle assembly within a magneto-rheological fluid. The needle assembly within the magneto-rheological fluid is associated with a desired resistance value. A viscosity control signal representative of the desired resistance value is generated. The viscosity control signal is applied to a viscosity control device to vary a viscosity of the magneto-rheological fluid to achieve the desired resistance value.

Abstract: An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.