Related papers: Data-Driven Gait Segmentation for Walking Assistan…
Gait recognition holds the promise of robustly identifying subjects based on walking patterns instead of appearance information. While previous approaches have performed well for curated indoor data, they tend to underperform in…
Bipedal robots have received much attention because of the variety of motion maneuvers that they can produce, and the many applications they have in various areas including rehabilitation. One of these motion maneuvers is walking. In this…
A data-driven model identification strategy is developed for dynamical systems near a supercritical Hopf bifurcation with nonautonomous inputs. This strategy draws on phase-amplitude reduction techniques, leveraging an analytical…
Analysing human gait has found considerable interest in recent computer vision research. So far, however, contributions to this topic exclusively dealt with the tasks of person identification or activity recognition. In this paper, we…
Objective: In this paper, we demonstrate the applicability of radar for gait classification with application to home security, medical diagnosis, rehabilitation and assisted living. Aiming at identifying changes in gait patterns based on…
Lower limbs exoskeletons provide assistance during standing, squatting, and walking. Gait dynamics, in particular, implies a change in the configuration of the device in terms of contact points, actuation, and system dynamics in general. In…
In this paper, we will report our efforts in designing closed-loop feedback for the thruster-assisted walking of bipedal robots. We will assume for well-tuned supervisory controllers and will focus on fine-tuning the joints desired…
This paper presents an online framework for synthesizing agile locomotion for bipedal robots that adapts to unknown environments, modeling errors, and external disturbances. To this end, we leverage step-to-step (S2S) dynamics which has…
Passive and non-obtrusive health monitoring using wearables can potentially bring new insights into the user's health status throughout the day and may support clinical diagnosis and treatment. However, identifying segments of free-living…
In this paper, we holistically present a Hybrid-Linear Inverted Pendulum (H-LIP) based approach for synthesizing and stabilizing 3D foot-underactuated bipedal walking, with an emphasis on thorough hardware realization. The H-LIP is proposed…
In this paper, a computationally efficient data-driven hybrid automaton model is proposed to capture unknown complex dynamical system behaviors using multiple neural networks. The sampled data of the system is divided by valid partitions…
Passive monitoring in daily life may provide invaluable insights about a person's health throughout the day. Wearable sensor devices are likely to play a key role in enabling such monitoring in a non-obtrusive fashion. However, sensor data…
Partial-assistance exoskeletons hold significant potential for gait rehabilitation by promoting active participation during (re)learning of normative walking patterns. Typically, the control of interaction torques in partial-assistance…
Walking is an essential activity for a healthy life, which becomes less tiring and more enjoyable if done together. Common difficulties we have in performing sufficient physical exercise, for instance the lack of motivation, can be overcome…
Human identification is one of the most common and critical tasks for condition monitoring, human-machine interaction, and providing assistive services in smart environments. Recently, human gait has gained new attention as a biometric for…
Accurate control of a humanoid robot's global position (i.e., its three-dimensional position in the world) is critical to the reliable execution of high-risk tasks such as avoiding collision with pedestrians in a crowded environment. This…
Human motion detection is getting considerable attention in the field of Artificial Intelligence (AI) driven healthcare systems. Human motion can be used to provide remote healthcare solutions for vulnerable people by identifying particular…
Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. However, to match human abilities and be able to reliably pick…
Human walking is a complex activity with a high level of cooperation and interaction between different systems in the body. Accurate detection of the phases of the gait in real-time is crucial to control lower-limb assistive devices like…
Several pathologies can alter the way people walk, i.e. their gait. Gait analysis can therefore be used to detect impairments and help diagnose illnesses and assess patient recovery. Using vision-based systems, diagnoses could be done at…