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To function autonomously in the physical world, humanoid robots need high-fidelity sensing systems, especially for forces that cannot be easily modeled. Modeling forces in robot feet is particularly challenging due to static indeterminacy,…
Musculoskeletal injuries during military training significantly impact readiness, making prevention through activity monitoring crucial. While Human Activity Recognition (HAR) using wearable devices offers promising solutions, it faces…
Enodvascular coils treat intracranial aneurysms (IAs) by causing them to occlude by thrombosis. Ideally, coiled IAs eventually occlude in the long-term. However, 20.8% are found incompletely occluded at treatment follow-up. Computer…
The current push towards interoperability drives companies to collaborate through process choreographies. At the same time, they face a jungle of continuously changing regulations, e.g., due to the pandemic and developments such as the…
Gait analysis of patients with neurological disorders, including multiple sclerosis (MS), is important for rehabilitation and treatment. The Mircrosoft Kinect sensor, which was developed for motion recognition in gaming applications, is an…
Walking is a key movement of interest in biomechanics, yet gold-standard data collection methods are time- and cost-expensive. This paper presents a real-time, multimodal, high sample rate lower-limb motion capture framework, based on…
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…
In robotic surgery, tool tracking is important for providing safe tool-tissue interaction and facilitating surgical skills assessment. Despite recent advances in tool tracking, existing approaches are faced with major difficulties in…
Most existing locomotion devices that represent the sensation of walking target a user who is actually performing a walking motion. Here, we attempted to represent the walking sensation, especially a kinesthetic sensation and advancing…
Accurate and reliable pedestrian trajectory prediction is critical for the application of intelligent applications, yet achieving trustworthy prediction remains highly challenging due to the complexity of interactions among pedestrians.…
We present TES, a new n-body integration code for the accurate and rapid propagation of planetary systems in the presence of close encounters. TES builds upon the classic Encke method and integrates only the perturbations to Keplerian…
Quantum walks are versatile simulators of topological phases and phase transitions as observed in condensed matter physics. Here, we utilize a step dependent coin in quantum walks and investigate what topological phases we can simulate with…
Timely and adequate rehabilitation is critical in facilitating post-stroke recovery. However, the organization and delivery of rehabilitation are resource-demanding, and are only available to approximately 25% of stroke survivors in…
Walking speed estimation is an essential component of mobile apps in various fields such as fitness, transportation, navigation, and health-care. Most existing solutions are focused on specialized medical applications that utilize body-worn…
This paper presents design principles for comfort-centered wearable robots and their application in a lightweight and backdrivable knee exoskeleton. The mitigation of discomfort is treated as mechanical design and control issues and three…
Using lower-limbs exoskeletons provides potential advantages in terms of productivity and safety associated with reduced stress. However, complex issues in human-robot interaction are still open, such as the physiological effects of…
Isolated mechanical systems -- e.g., those floating in space, in free-fall, or on a frictionless surface -- are able to achieve net rotation by cyclically changing their shape, even if they have no net angular momentum. Similarly, swimmers…
Vertebrae localization, segmentation and identification in CT images is key to numerous clinical applications. While deep learning strategies have brought to this field significant improvements over recent years, transitional and…
Hearth Rate (HR) monitoring is increasingly performed in wrist-worn devices using low-cost photoplethysmography (PPG) sensors. However, Motion Artifacts (MAs) caused by movements of the subject's arm affect the performance of PPG-based HR…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or performance of a microrobot as it moves against a substrate. At…