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When we move on snow, sand, or mud, the ground deforms under our feet, immediately affecting our gait. We propose a physically based model for computing such interactions in real time, from only the kinematic motion of a virtual character.…
Recent technological advancements in artificial intelligence and computer vision have enabled gait analysis on portable devices such as cell phones. However, most state-of-the-art vision-based systems still impose numerous constraints for…
In this paper, an online adaptation algorithm for bipedal walking on uneven surfaces with height uncertainty is proposed. In order to generate walking patterns on flat terrains, the trajectories in the task space are planned to satisfy the…
Objective: To systematically quantify the effect of the camera view (frontal vs. lateral) on the accuracy of 2D markerless gait analysis relative to 3D motion capture ground truth. Methods: Gait data from 18 subjects were recorded…
We consider the problem of identifying people on the basis of their walk (gait) pattern. Classical approaches to tackle this problem are based on, e.g., video recordings or piezoelectric sensors embedded in the floor. In this work, we rely…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
It is important to understand how bipedal walkers balance and walk effectively on granular materials, such as sand and loose dirt, etc. This paper first presents a computational approach to obtain the motion and energy analysis of bipedal…
Several pathologies can alter the way people walk, i.e. their gait. Gait analysis can therefore be used to detect impairments and help diagnose illnesses and assess patient recovery. Using vision-based systems, diagnoses could be done at…
Collective human movement is a hallmark of complex systems, exhibiting emergent order across diverse settings, from pedestrian flows to biological collectives. In high-speed scenarios, alignment interactions ensure efficient flow and…
The ubiquity of personal digital devices offers unprecedented opportunities to study human behavior. Current state-of-the-art methods quantify physical activity using 'activity counts,' a measure which overlooks specific types of physical…
Accurate prediction of joint kinematics and kinetics is essential for advancing gait analysis and developing intelligent assistive systems such as prosthetics and exoskeletons. This study presents a hybrid LSTM-UKF framework for estimating…
Humanoid robots operating in human-centered environments (e.g., homes, hospitals, and offices) must mitigate foot--ground impact transients, as impact-induced vibration and noise degrade user experience and repeated impacts accelerate…
Gait, an unobtrusive biometric, is valued for its capability to identify individuals at a distance, across external outfits and environmental conditions. This study challenges the prevailing assumption that vision-based gait recognition, in…
The biomechanics of the human body allow humans a range of possible ways of executing movements to attain specific goals. This range of movement is limited by a number of mechanical, biomechanical, or cognitive constraints. Shifts in these…
Humans excel at robust bipedal walking in complex natural environments. In each step, they adequately tune the interaction of biomechanical muscle dynamics and neuronal signals to be robust against uncertainties in ground conditions.…
Robotics system for rehabilitation of movement disorders and motion assistance are gaining increased intention. In this scenario estimation of ground contact is an active area of research in robotics and healthcare. This article addresses…
Previous research on unstable footwear has suggested that it may induce plantar mechanical noise during walking. The purpose of this study was to explore whether unstable footwear could be considered as a noise-based training gear to…
Analysing human gait has found considerable interest in recent computer vision research. So far, however, contributions to this topic exclusively dealt with the tasks of person identification or activity recognition. In this paper, we…
Gait asymmetry, a consequence of various neurological or physical conditions such as aging and stroke, detrimentally impacts bipedal locomotion, causing biomechanical alterations, increasing the risk of falls and reducing quality of life.…
A key aspect of developing fall prevention systems is the early prediction of a fall before it occurs. This paper presents a statistical overview of results obtained by analyzing 22 activities of daily living to recognize physiological…