Related papers: Learning a Control Policy for Fall Prevention on a…
Falling is an inherent risk of humanoid mobility. Maintaining stability is thus a primary safety focus in robot control and learning, yet no existing approach fully averts loss of balance. When instability does occur, prior work addresses…
Many kinds of lower-limb exoskeletons were developed for walking assistance. However, when controlling these exoskeletons, time-delay due to the computation time and the communication delays is still a general problem. In this research, we…
Bipedal locomotion makes humanoid robots inherently prone to falls, causing catastrophic damage to the expensive sensors, actuators, and structural components of full-scale robots. To address this critical barrier to real-world deployment,…
Falls have become more frequent in recent years, which has been harmful for senior citizens.Therefore detecting falls have become important and several data sets and machine learning model have been introduced related to fall detection. In…
Human gait can be a predictive factor for detecting pathologies that affect human locomotion according to studies. In addition, it is known that a high investment is demanded in order to raise a traditional clinical infrastructure able to…
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…
Personalized fall detection system is shown to provide added and more benefits compare to the current fall detection system. The personalized model can also be applied to anything where one class of data is hard to gather. The results show…
Falls, highly common in the constantly increasing global aging population, can have a variety of negative effects on their health, well-being, and quality of life, including restricting their capabilities to conduct Activities of Daily…
Getting up from an arbitrary fallen state is a basic human skill. Existing methods for learning this skill often generate highly dynamic and erratic get-up motions, which do not resemble human get-up strategies, or are based on tracking…
The aging population is growing rapidly, and so is the danger of falls in older adults. A major cause of injury is falling, and detection in time can greatly save medical expenses and recovery time. However, to provide timely intervention…
This article explores assistive devices for upper limb movement in people with disabilities through a systematic review based on the PRISMA methodology. The studied devices encompass technologies ranging from orthoses to advanced robotics,…
Inpatient falls are a serious safety issue in hospitals and healthcare facilities. Recent advances in video analytics for patient monitoring provide a non-intrusive avenue to reduce this risk through continuous activity monitoring. However,…
The aging population has led to a growing number of falls in our society, affecting global public health worldwide. This paper presents CareFall, an automatic Fall Detection System (FDS) based on wearable devices and Artificial Intelligence…
This paper presents a Discrete-Time Model Predictive Controller (MPC) for humanoid walking with online footstep adjustment. The proposed controller utilizes a hierarchical control approach. The high-level controller uses a low-dimensional…
Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing. The former enables the robot to ascertain human body pose…
Human walkers traverse diverse environments and demonstrate different gait locomotion and energy cost on granular terrains compared to solid ground. We present a stiffness-based model predictive control approach of knee exoskeleton…
Designing control policies for legged locomotion is complex due to the under-actuated and non-continuous robot dynamics. Model-free reinforcement learning provides promising tools to tackle this challenge. However, a major bottleneck of…
In this work, we develop an automated method to generate 3D human walking motion in simulation which is comparable to real-world human motion. At the core, our work leverages the ability of deep reinforcement learning methods to learn…
Rollator walkers allow people with physical limitations to increase their mobility and give them the confidence and independence to participate in society for longer. However, rollator walker users often have poor posture, leading to…
Gait asymmetry, a consequence of various neurological or physical conditions such as aging and stroke, detrimentally impacts bipedal locomotion, causing biomechanical alterations, increasing the risk of falls and reducing quality of life.…