Related papers: Joint axis estimation for fast and slow movements …
Magnetic Resonance Imaging allows high resolution data acquisition with the downside of motion sensitivity due to relatively long acquisition times. Even during the acquisition of a single 2D slice, motion can severely corrupt the image.…
Attitude determination using the smartphone's inertial sensors poses a major challenge due to the sensor low-performance grade and variate nature of the walking pedestrian. In this paper, data-driven techniques are employed to address that…
This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular…
Many physical tasks such as pulling out a drawer or wiping a table can be modeled with geometric constraints. These geometric constraints are characterized by restrictions on kinematic trajectories and reaction wrenches (forces and moments)…
A comparative study of different block matching alternatives for motion estimation is presented. The study is focused on computational burden and objective measures on the accuracy of prediction. Together with existing algorithms several…
Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry in challenging tasks. Most current works assume that the robot kinematic model is precise enough for the task…
Good geometrical calibration is essential in the use of high resolution detectors. The individual sensors in the detector have to be calibrated with an accuracy better than the intrinsic resolution, which typically is of the order of 10 um.…
Purpose: To develop a computationally viable autofocus method for estimating 3D rigid motion in MR imaging. Theory and Methods: The proposed method, REACT, assumes a piecewise-constant motion trajectory and estimates the rigid motion…
Many studies decompose human motion into local motion in a frame attached to the root joint and global motion of the root joint in the world frame, treating them separately. However, these two components are not independent. Global movement…
Accurate and rapid detection of gait phases is of utmost importance in achieving optimal performance of powered lower-limb prostheses and exoskeletons. With the increasing versatility and complexity of these robotic systems, there is a…
Involuntary motion during weight-bearing cone-beam computed tomography (CT) scans of the knee causes artifacts in the reconstructed volumes making them unusable for clinical diagnosis. Currently, image-based or marker-based methods are…
In this paper, we propose a method for tracking structures (e.g., ventricles and myocardium) in cardiac images (e.g., magnetic resonance) by propagating forward in time a previous estimate of the structures via a new deformation estimation…
Electromyogram (EMG) signals recorded from the skin surface enable intuitive control of assistive devices such as prosthetic limbs. However, in EMG-based motion recognition, collecting comprehensive training data for all target motions…
In the present work we develop an algorithm for calibrating MEMS sensors, which accounts for the nonorthogonality of the accelerometers' axis, as well as for the constant bias and scaling errors. We derive an explicit formula for computing…
This paper presents a novel autonomous quality metric to quantify the rehabilitations progress of subjects with knee/hip operations. The presented method supports digital analysis of human gait patterns using smartphones. The algorithm…
This work presents the design and the corresponding stability analysis of a model based, joint position tracking error constrained, adaptive output feedback controller for robot manipulators. Specifically, provided that the initial joint…
This paper developed an efficient method for calibrating triaxial MEMS gyroscopes, which can be effectively utilized in the field environment. The core strategy is to utilize the criterion that the dot product of the measured gravity and…
Successfully achieving bipedal locomotion remains challenging due to real-world factors such as model uncertainty, random disturbances, and imperfect state estimation. In this work, we propose a novel metric for locomotive robustness -- the…
Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states,…
In order to enable on-purpose robotic impact tasks, predicting joint-velocity jumps is essential to enforce controller feasibility and hardware integrity. We observe a considerable prediction error of a commonly-used approach in robotics…