Related papers: Learning a Control Policy for Fall Prevention on a…
The ability to recover from an unexpected external perturbation is a fundamental motor skill in bipedal locomotion. An effective response includes the ability to not just recover balance and maintain stability but also to fall in a safe…
The well-being of older adults relies significantly on maintaining balance and mobility. As physical ability declines, older adults often accept the need for assistive devices. However, existing walkers frequently fail to consider user…
This survey paper concerns Sensor Fusion for Predictive Control of Human-Prosthesis-Environment Dynamics in Assistive Walking. The powered lower limb prosthesis can imitate the human limb motion and help amputees to recover the walking…
Being able to fall safely is a necessary motor skill for humanoids performing highly dynamic tasks, such as running and jumping. We propose a new method to learn a policy that minimizes the maximal impulse during the fall. The optimization…
Developing a general-purpose wearable real-time fall-detection system is still a challenging task, especially for healthy and strong subjects, such as industrial workers that work in harsh environments. In this work, we present a hybrid…
Designing generalizable control policies for lower-limb exoskeletons remains fundamentally constrained by exhaustive data collection or iterative optimization procedures, which limit accessibility to clinical populations. To address this…
In this paper, we propose several solutions to guide an older adult along a safe path using a robotic walking assistant (the c-Walker). We consider four different possibilities to execute the task. One of them is mechanical, with the…
Planning under uncertainty is a crucial capability for autonomous systems to operate reliably in uncertain and dynamic environments. The concern of safety becomes even more critical in healthcare settings where robots interact with human…
Rollating walkers are popular mobility aids used by older adults to improve balance control. There is a need to automatically recognize the activities performed by walker users to better understand activity patterns, mobility issues and the…
Human fall is one of the very critical health issues, especially for elders and disabled people living alone. The number of elder populations is increasing steadily worldwide. Therefore, human fall detection is becoming an effective…
Walking on compliant terrain presents a substantial challenge for individuals with lower-limb amputation, further elevating their already high risk of falling. While powered ankle-foot prostheses have demonstrated adaptability across speeds…
Adaptive falling and recovery skills greatly extend the applicability of robot deployments. In the case of legged mobile manipulators, the robot arm could adaptively stop the fall and assist the recovery. Prior works on falling and recovery…
A key aspect of developing fall prevention systems is the early prediction of a fall before it occurs. This paper presents a statistical overview of results obtained by analyzing 22 activities of daily living to recognize physiological…
Falling is a commonly occurring mishap with elderly people, which may cause serious injuries. Thus, rapid fall detection is very important in order to mitigate the severe effects of fall among the elderly people. Many fall monitoring…
Effective methods of preventing falls significantly improve the quality of life of the Elderly. Nowadays, people focus mainly on the proper provision of the apartment with handrails and fall detection systems once they have occurred. The…
The elderly population is increasing rapidly around the world. There are no enough caretakers for them. Use of AI-based in-home medical care systems is gaining momentum due to this. Human fall detection is one of the most important tasks of…
Falls are serious and costly for elderly people. The Centers for Disease Control and Prevention of the US reports that millions of older people, 65 and older, fall each year at least once. Serious injuries such as; hip fractures, broken…
Agentic AI, with goal-directed, proactive, and autonomous decision-making capabilities, offers a compelling opportunity to address movement-related risks in human activity, including the persistent hazard of falls among elderly populations.…
Timely and reliable detection of falls is a large and rapidly growing field of research due to the medical and financial demand of caring for a constantly growing elderly population. Within the past 2 decades, the availability of…
Hip exoskeletons are known for their versatility in assisting users across varied scenarios. However, current assistive strategies often lack the flexibility to accommodate for individual walking patterns and adapt to diverse locomotion…