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In a simplified fashion, the motion of the eyeball in its orbit consists of rotations around a fixed point. Therefore, this motion can be described in terms of the Euler's angles of rigid body dynamics. However, there is a physiological…
While there has been remarkable progress recently in the fields of manipulation and locomotion, mobile manipulation remains a long-standing challenge. Compared to locomotion or static manipulation, a mobile system must make a diverse range…
Despite the fact that only a small portion of muscles are affected in motion disease and disorders, medical therapies do not distinguish between healthy and unhealthy muscles. In this paper, a method is devised in order to calculate the…
Appearance-based gaze estimation methods that only require an off-the-shelf camera have significantly improved but they are still not yet widely used in the human-computer interaction (HCI) community. This is partly because it remains…
Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…
Humans navigate in their environment by learning a mental model of the world through passive observation and active interaction. Their world model allows them to anticipate what might happen next and act accordingly with respect to an…
Eye movement prediction is a promising area of research with the potential to improve performance and the user experience of systems based on eye-tracking technology. In this study, we analyze individual differences in gaze prediction…
In rehabilitation, powered, and teleoperation exoskeletons, connecting the human body to the exoskeleton through binding attachments is a common configuration. However, the uncertainty of the tightness and the donning deviation of the…
In this paper, we consider the problem of visual scanning mechanism underpinning sensorimotor tasks, such as walking and driving, in dynamic environments. We exploit eye tracking data for offering two new cognitive effort measures in visual…
A new approach for trajectory optimization of musculoskeletal dynamic models is introduced. The model combines rigid body and muscle dynamics described with a Hill-type model driven by neural control inputs. The objective is to find input…
With deep learning and computer vision technology development, autonomous driving provides new solutions to improve traffic safety and efficiency. The importance of building high-quality datasets is self-evident, especially with the rise of…
The present paper proposes optimization-based solutions to visual SLAM with a vehicle-mounted surround-view camera system. Owing to their original use-case, such systems often only contain a single camera facing into either direction and…
There has been significant progress in machine learning algorithms for human pose estimation that may provide immense value in rehabilitation and movement sciences. However, there remain several challenges to routine use of these tools for…
There is physiological evidence that our ability to interpret human pose and action from 2D visual imagery (binocular or monocular) engages the circuitry of the motor cortices as well as the visual areas of the brain. This implies that the…
We present a novel approach named OmniControl for incorporating flexible spatial control signals into a text-conditioned human motion generation model based on the diffusion process. Unlike previous methods that can only control the pelvis…
Eye movements play a vital role in perceiving the world. Eye gaze can give a direct indication of the users point of attention, which can be useful in improving human-computer interaction. Gaze estimation in a non-intrusive manner can make…
We develop a human-centred, cognitive model of visuospatial complexity in everyday, naturalistic driving conditions. With a focus on visual perception, the model incorporates quantitative, structural, and dynamic attributes identifiable in…
This paper presents an open-source Software-in-the-Loop (SIL) simulation platform designed for autonomous Ackerman vehicle research and education. The proposed framework focuses on simplicity, while making it easy to work with small-scale…
Commercial head-mounted eye trackers provide useful features to customers in industry and research but are expensive and rely on closed source hardware and software. This limits the application areas and use of mobile eye tracking to expert…
Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control…