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The biomechanics of the human body gives subjects a high degree of freedom in how they can execute movement. Nevertheless, subjects exhibit regularity in their movement patterns. One way to account for this regularity is to suppose that…
Estimating human poses from videos is critical in human-computer interaction. Joints cooperate rather than move independently during human movement. There are both spatial and temporal correlations between joints. Despite the positive…
We present a novel retargeting algorithm that transfers the musculature of a reference anatomical model to new bodies with different sizes, body proportions, muscle capability, and joint range of motion while preserving the functionality of…
The use of 3D cameras for gait analysis has been highly questioned due to the low accuracy they have demonstrated in the past. The objective of the study presented in this paper is to improve the accuracy of the estimations made by…
In the control of lower-limb exoskeletons with feet, the phase in the gait cycle can be identified by monitoring the weight distribution at the feet. This phase information can be used in the exoskeleton's controller to compensate the…
The musculoskeletal humanoid is difficult to modelize due to the flexibility and redundancy of its body, whose state can change over time, and so balance control of its legs is challenging. There are some cases where ordinary PID controls…
In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has…
In future, robots will be present in everyday life. The development of these supporting robots is a challenge. A fundamental task for assistance robots is to pick up and hand over objects to humans. By interacting with users, soft factors…
Predicting lower limb motion intent is vital for controlling exoskeleton robots and prosthetic limbs. Surface electromyography (sEMG) attracts increasing attention in recent years as it enables ahead-of-time prediction of motion intentions…
Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid body designs and an optical tracking volume setup for…
Recently, through development of several 3d vision systems, widely used in various applications, medical and biometric fields. Microsoft kinect sensor have been most of used camera among 3d vision systems. Microsoft kinect sensor can obtain…
The present research as described in this paper tries to impart how imitation based learning for behavior-based programming can be used to teach the robot. This development is a big step in way to prove that push recovery is a software…
Gait, as one of unique biometric features, has the advantage of being recognized from a long distance away, can be widely used in public security. Considering 3D pose estimation is more challenging than 2D pose estimation in practice , we…
Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee requires an active prosthesis, but has the potential to enable…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…
In the domain of assistive robotics, the significance of effective modeling is well acknowledged. Prior research has primarily focused on enhancing model accuracy or involved the collection of extensive, often impractical amounts of data.…
A key step towards understanding human behavior is the prediction of 3D human motion. Successful solutions have many applications in human tracking, HCI, and graphics. Most previous work focuses on predicting a time series of future 3D…
Many robotic systems locomote using gaits - periodic changes of internal shape, whose mechanical interaction with the robot's environment generate characteristic net displacements. Prominent examples with two shape variables are the low…
We focus on the modeling and simulation of an infectious disease spreading in a medium size population occupying a confined environment, such as an airport terminal, for short periods of time. Because of the size of the crowd and venue, we…