A survey of teleceptive sensing for wearable assistive robotic devices

Nili E. Krausz, Levi J. Hargrove

Research output: Contribution to journalReview articlepeer-review


Teleception is defined as sensing that occurs remotely, with no physical contact with the object being sensed. To emulate innate control systems of the human body, a control system for a semior fully autonomous assistive device not only requires feedforward models of desired movement, but also the environmental or contextual awareness that could be provided by teleception. Several recent publications present teleception modalities integrated into control systems and provide preliminary results, for example, for performing hand grasp prediction or endpoint control of an arm assistive device; and gait segmentation, forward prediction of desired locomotion mode, and activity-specific control of a prosthetic leg or exoskeleton. Collectively, several different approaches to incorporating teleception have been used, including sensor fusion, geometric segmentation, and machine learning. In this paper, we summarize the recent and ongoing published work in this promising new area of research.

Original languageEnglish
Article number5238
JournalSensors (Switzerland)
Issue number23
StatePublished - 1 Dec 2019
Externally publishedYes


  • Assistive robotics
  • Computer vision
  • Depth sensing
  • Environment
  • Exoskeletons
  • Prostheses
  • Rehabilitation robotics
  • Teleceptive sensing

All Science Journal Classification (ASJC) codes

  • Analytical Chemistry
  • Information Systems
  • Instrumentation
  • Atomic and Molecular Physics, and Optics
  • Electrical and Electronic Engineering
  • Biochemistry


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