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This paper describes a method to convert Microsoft Kinect coordinates into gait parameters in order to detect a person's gait change. The proposed method can help quantify the progress of physical therapy. Microsoft Kinect, a popular…

Geometric motion planning offers effective and interpretable gait analysis and optimization tools for locomoting systems. However, due to the curse of dimensionality in coordinate optimization, a key component of geometric motion planning,…

This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…

In this paper, we address the problem of estimating the positions of human joints, i.e., articulated pose estimation. Recent state-of-the-art solutions model two key issues, joint detection and spatial configuration refinement, together…

Human locomotion involves continuously variable activities including walking, running, and stair climbing over a range of speeds and inclinations as well as sit-stand, walk-run, and walk-stairs transitions. Understanding the kinematics and…

This research aims to quantify human walking patterns through depth cameras to (1) detect walking pattern changes of a person with and without a motion-restricting device or a walking aid, and to (2) identify distinct walking patterns from…

This paper presents a novel framework for real-time human action recognition in industrial contexts, using standard 2D cameras. We introduce a complete pipeline for robust and real-time estimation of human joint kinematics, input to a…

Using joint actuators to drive the skeletal movements is a common practice in character animation, but the resultant torque patterns are often unnatural or infeasible for real humans to achieve. On the other hand, physiologically-based…

Human movements are physical processes combining the classical mechanics of the human body moving in space and the biomechanics of the muscles generating the forces acting on the body under sophisticated sensory-motor control. One way to…

An adaptive guidance system that supports equipment operators requires a comprehensive model, which involves a variety of user behaviors that considers different skill and knowledge levels, as well as rapid-changing task situations. In the…

While musculoskeletal humanoids have the advantages of various biomimetic structures, it is difficult to accurately control the body, which is challenging to model. Although various learning-based control methods have been developed so far,…

For the task of mobility analysis of 3D shapes, we propose joint analysis for simultaneous motion part segmentation and motion attribute estimation, taking a single 3D model as input. The problem is significantly different from those…

Gait analysis using computer vision is an emerging field in AI, offering clinicians an objective, multi-feature approach to analyse complex movements. Despite its promise, current applications using RGB video data alone are limited in…

Dynamic radiographic measurement of 3D TKA kinematics has provided important information for implant design and surgical technique for over 30 years. However, current methods of measuring TKA kinematics are too cumbersome or time-consuming…

In this research, we present an innovative method known as a physics-informed neural network (PINN) model to predict multi-joint kinematics using electromyography (EMG) signals recorded from the muscles surrounding these joints across…

Biomechanical and clinical gait research observes muscles and tendons in limbs to study their functions and behaviour. Therefore, movements of distinct anatomical landmarks, such as muscle-tendon junctions, are frequently measured. We…

Articulation modeling enables robots to learn joint parameters of articulated objects for effective manipulation which can then be used downstream for skill learning or planning. Existing approaches often rely on prior knowledge about the…

We present a novel method to estimate the motion matrix between overlapping pairs of 3D views in the context of indoor scenes. We use the Manhattan world assumption to introduce lightweight geometric constraints under the form of planes…

The objective assessment of gait kinematics is crucial in evaluating human movement, informing clinical decisions, and advancing rehabilitation and assistive technologies. Assessing gait symmetry, in particular, holds significant importance…

Pedestrian dynamics models the walking movement of individuals in a crowd. It has recently been used in the analysis of procedures to reduce the risk of disease spread in airplanes, relying on the SPED model. This is a social force model…