Related papers: An Open-Source OpenSim Oculomotor Model for Kinema…
Optimal feedback control (OFC) is a theory from the motor control literature that explains how humans move their body to achieve a certain goal, e.g., pointing with the finger. OFC is based on the assumption that humans aim to control their…
When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…
We present a generative method to estimate 3D human motion and body shape from monocular video. Under the assumption that starting from an initial pose optical flow constrains subsequent human motion, we exploit flow to find temporally…
Accurate 3D kinematics estimation of human body is crucial in various applications for human health and mobility, such as rehabilitation, injury prevention, and diagnosis, as it helps to understand the biomechanical loading experienced…
Real-world scene perception is typically studied in the laboratory using static picture viewing with restrained head position. Consequently, the transfer of results obtained in this paradigm to real-word scenarios has been questioned. The…
We present OrbiSim, a novel robotic simulation paradigm that redefines world models as a fully differentiable physics engine for embodied intelligence. Unlike prior world models that focus on unconstrained imagination in latent or visual…
Many cytoskeletal systems are now sufficiently well known to permit their precise quantitative modelling. Microtubule and actin filaments are well characterized, and the associated proteins are often known, as well as their abundance and…
The standard engineering approach when facing uncertainty is modelling. Mixing data from a well-calibrated model with real recordings has led to breakthroughs in many applications of AI, from computer vision to autonomous driving. This type…
Simulation models are an absolute necessity in the human and social sciences, which can only very exceptionally use experimental science methods to construct their knowledge. Models enable the simulation of social processes by replacing the…
Occlusions caused by a robot's own body is a common problem for closed-loop control methods employed in eye-to-hand camera setups. We propose an optimization-based reactive controller that minimizes self-occlusions while achieving a desired…
This paper presents the principal challenges and opportunities associated with computational biomechanics research. The underlying cognitive control involved in the process of human motion is inherently complex, dynamic, multidimensional,…
We examined eye and head movements to gain insights into skill development in clinical settings. A total of 24 practitioners participated in simulated baby delivery training sessions. We calculated key metrics, including pupillary response…
Voluntary human motion is the product of muscle activity that results from upstream motion planning of the motor cortical areas. We show that muscle activity can be artificially generated based on motion features such as position, velocity,…
This paper is devoted to the kinematic design of a new six degree-of-freedom haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the second one, called agile eye, produces the…
The ever increasing need for performance results in increasingly rigorous demands on throughput and positioning accuracy of high-precision motion systems, which often suffer from position dependent effects that originate from relative…
The optical flow of humans is well known to be useful for the analysis of human action. Given this, we devise an optical flow algorithm specifically for human motion and show that it is superior to generic flow methods. Designing a method…
This paper presents a renewed overview of photosensor oculography (PSOG), an eye-tracking technique based on the principle of using simple photosensors to measure the amount of reflected (usually infrared) light when the eye rotates.…
Reduced-order template models are widely used to control high degree-of-freedom legged robots, but existing methods for template-based whole-body control rely heavily on heuristics and often suffer from robustness issues. In this letter, we…
Eye movement data are outputs of an analyser tracking the gaze when a person is inspecting a scene. These kind of data are of increasing importance in scientific research as well as in applications, e.g. in marketing and man-machine…
Human-like motion is a primary goal for many robotic assistive devices. Emulating the strategy of the human neuromuscular system may aid the control of such powered devices, yet many challenges remain. In this study, we investigated the…