Related papers: Learning a Control Policy for Fall Prevention on a…
To help the blind people walk to the destination efficiently and safely in indoor environment, a novel wearable navigation device is presented in this paper. The locating, way-finding, route following and obstacle avoiding modules are the…
We present a computationally efficient method for online planning of bipedal walking trajectories with push recovery. In particular, the proposed methodology fits control architectures where the Divergent-Component-of-Motion (DCM) is…
The study of biomechanics during locomotion provides valuable insights into the effects of varying conditions on specific movement patterns. This research focuses on examining the influence of different shoe parameters on walking…
This paper presents an active stabilization method for a fully actuated lower-limb exoskeleton. The method was tested on the exoskeleton ATALANTE, which was designed and built by the French start-up company Wandercraft. The main objective…
We propose a robust dynamic walking controller consisting of a dynamic locomotion planner, a reinforcement learning process for robustness, and a novel whole-body locomotion controller (WBLC). Previous approaches specify either the position…
Maintaining an active lifestyle is vital for quality of life, yet challenging for wheelchair users. For instance, powered wheelchairs face increasing risks of obesity and deconditioning due to inactivity. Conversely, manual wheelchair…
Age-related cognitive impairment is generally characterized by gradual memory loss and decision-making difficulties. The aim of this study is to investigate multi level support and suggest relevant helping means for the elderly with mild…
Quadrupedal loco-manipulation is commonly built on visual perception and proprioception. Yet reliable contact-rich manipulation remains difficult: vision and proprioception alone cannot resolve uncertain, evolving interactions with the…
Falls present a significant global public health challenge, especially in today's aging society, underscoring the importance of developing an effective fall detection system. Non-invasive radio-frequency (RF) based fall detection has…
Fall is a leading cause of death which suffers the elderly and society. Timed Up and Go (TUG) test is a common tool for fall risk assessment. In this paper, we propose a method for predicting TUG score from gait characteristics extracted…
Exoskeletons show great promise for enhancing mobility, but providing appropriate assistance remains challenging due to the complexity of human adaptation to external forces. Current state-of-the-art approaches for optimizing exoskeleton…
Virtual models of human gait, or digital twins, offer a promising solution for studying mobility without the need for labor-intensive data collection. However, challenges such as the sim-to-real gap and limited adaptability to diverse…
This paper presents a collaborative fall detection and response system integrating Wi-Fi sensing with robotic assistance. The proposed system leverages channel state information (CSI) disruptions caused by movements to detect falls in…
Detecting unintended falls is essential for ambient intelligence and healthcare of elderly people living alone. In recent years, deep convolutional nets are widely used in human action analysis, based on which a number of fall detection…
Current control strategies for powered lower limb prostheses often lack awareness of the environment and the user's intended interactions with it. This limitation becomes particularly apparent in complex terrains. Obstacle negotiation, a…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
This paper reports on a study that helps visually-impaired people to walk more confidently. The study hypothesizes that a smart cane that alerts visually-impaired people over obstacles in front could help them in walking with less accident.…
We develop predictive models of pedestrian dynamics by encoding the coupled nature of multi-pedestrian interaction using game theory, and deep learning-based visual analysis to estimate person-specific behavior parameters. Building…
Humanoid robots, designed to operate in human-centric environments, serve as a fundamental platform for a broad range of tasks. Although humanoid robots have been extensively studied for decades, a majority of existing humanoid robots still…
Although there has been recent progress in control of multi-joint prosthetic legs for rhythmic tasks such as walking, control of these systems for non-rhythmic motions and general real-world maneuvers is still an open problem. In this…