Related papers: Simulating Wear On Total Knee Replacements
Soft robotics hold promise in the development of safe yet powered assistive wearable devices for infants. Key to this is the development of closed-loop controllers that can help regulate pneumatic pressure in the device's actuators in an…
This report is a summary of research conducted on cloth tracking for automated textile manufacturing during a two semester long research course at Georgia Tech. This work was completed in 2009. Advances in current sensing technology such as…
Markerless motion capture enables the tracking of human motion without requiring physical markers or suits, offering increased flexibility and reduced costs compared to traditional systems. However, these advantages often come at the…
Objective: In this work the potential of non-invasive detection of knee osteoarthritis is investigated using the sounds generated by the knee joint during walking. Methods: The information contained in the time-frequency domain of these…
An approach for computing unique gait signature using measurements collected from body-worn inertial measurement units (IMUs) is proposed. The gait signature represents one full cycle of the human gait, and is suitable for off-line or…
We present a framework for learning a single policy capable of producing all quadruped gaits and transitions. The framework consists of a policy trained with deep reinforcement learning (DRL) to modulate the parameters of a system of…
We introduce a novel approach for gait transfer from unconstrained videos in-the-wild. In contrast to motion transfer, the objective here is not to imitate the source's motions by the target, but rather to replace the walking source with…
Oxygen consumption (VO$_2$) provides established clinical and physiological indicators of cardiorespiratory function and exercise capacity. However, VO$_2$ monitoring is largely limited to specialized laboratory settings, making its…
Accurate reconstruction of implanted knee models is crucial in orthopedic surgery and biomedical engineering, enhancing preoperative planning, optimizing implant design, and improving surgical outcomes. Traditional methods rely on…
This study explores the capabilities of WebGPU, an emerging web graphics paradigm, for real-time cloth simulation. Traditional WebGL-based methods have been in handling complex physical simulations due to their emphasis on graphics…
Sensorized insoles provide a tool for gait studies and health monitoring during daily life. For users to accept such insoles they need to be comfortable and lightweight. Previous work has already demonstrated that estimation of ground…
Rehabilitation is important to improve quality of life for mobility-impaired patients. Smart walkers are a commonly used solution that should embed automatic and objective tools for data-driven human-in-the-loop control and monitoring.…
Supernumerary Robotic Limbs (SRLs) exhibit inherently compliant behavior due to the elasticity present at the intersection of human tissue and the robot. This compliance, can prominently influence the operation of some SRLs, depending on…
Deep reinforcement learning (deep RL) holds the promise of automating the acquisition of complex controllers that can map sensory inputs directly to low-level actions. In the domain of robotic locomotion, deep RL could enable learning…
Background: Lower limb exoskeletons can enhance quality of life, but widespread adoption is limited by the lack of frameworks to assess their biomechanical and human-robot interaction effects, which are essential for developing adaptive and…
Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating…
The brisk progression of the industrial digital innovation, leading to high degree of automation and big data transfer in manufacturing technologies, demands continuous development of appropriate off-line metrology methods to support…
Tendon-sheath mechanisms (TSMs) are widely used in minimally invasive surgical (MIS) applications, but their inherent hysteresis-caused by friction, backlash, and tendon elongation-leads to significant tracking errors. Conventional modeling…
A class of planar bipedal robots with unique mechanical properties has been proposed, where all links are balanced around the hip joint, preventing natural swinging motion due to gravity. A common property of their equations of motion is…
In this article, we propose a deep learning framework that provides a unified approach to the problem of leg contact detection in humanoid robot walking gaits. Our formulation accomplishes to accurately and robustly estimate the contact…