Related papers: Preference-Based Learning for Exoskeleton Gait Opt…

We propose a new online learning model for learning with preference feedback. The model is especially suited for applications like web search and recommender systems, where preference data is readily available from implicit user feedback…

We analyze the problem of learning a single user's preferences in an active learning setting, sequentially and adaptively querying the user over a finite time horizon. Learning is conducted via choice-based queries, where the user selects…

The design of gaits for robot locomotion can be a daunting process which requires significant expert knowledge and engineering. This process is even more challenging for robots that do not have an accurate physical model, such as compliant…

Gait based biometric aims to discriminate among people by the way or manner they walk. It represents a biometric at distance which has many advantages over other biometric modalities. State-of-the-art methods require a limited cooperation…

Exoskeletons have been shown to effectively assist humans during steady locomotion. However, their effects on non-steady locomotion, characterized by nonlinear phase progression within a gait cycle, remain insufficiently explored,…

Real-time constraint satisfaction for robots can be quite challenging due to the high computational complexity that arises when accounting for the system dynamics and environmental interactions, often requiring simplification in modelling…

Gait recognition plays a vital role in human identification since gait is a unique biometric feature that can be perceived at a distance. Although existing gait recognition methods can learn gait features from gait sequences in different…

Learning a locomotion controller for a musculoskeletal system is challenging due to over-actuation and high-dimensional action space. While many reinforcement learning methods attempt to address this issue, they often struggle to learn…

Self-balancing exoskeletons offer a promising mobility solution for individuals with lower-limb disabilities. For reliable long-term operation, these exoskeletons require a perception system that is effective in changing environments. In…

We present ProxEmo, a novel end-to-end emotion prediction algorithm for socially aware robot navigation among pedestrians. Our approach predicts the perceived emotions of a pedestrian from walking gaits, which is then used for…

Trajectory planning for automated vehicles commonly employs optimization over a moving horizon - Model Predictive Control - where the cost function critically influences the resulting driving style. However, finding a suitable cost function…

Spinal cord injuries frequently impair the ability to walk. Powered lower limb exoskeletons offer a promising solution to restore walking ability. However, they are currently restricted to even ground. We hypothesized that compliant…

Individual differences in vibrotactile perception underscore the growing importance of personalization as haptic feedback becomes more prevalent in interactive systems. We propose Vibrotactile Preference Learning (VPL), a system that…

Gait asymmetry is a significant clinical characteristic of hemiplegic gait that most stroke survivors suffer, leading to limited mobility and long-term negative impacts on their quality of life. Although a variety of exoskeleton controls…

Just like in humans vision plays a fundamental role in guiding adaptive locomotion, when designing the control strategy for a walking assistive technology, Computer Vision may bring substantial improvements when performing an…

This paper presents an exploration of preference learning in text-to-motion generation. We find that current improvements in text-to-motion generation still rely on datasets requiring expert labelers with motion capture systems. Instead,…

Walking as a form of active travel is essential in promoting sustainable transport. It is thus crucial to accurately predict pedestrian crossing intention and avoid collisions, especially with the advent of autonomous and advanced…

The problem of navigating a bipedal robot to a desired destination in various environments is very important. However, it is very difficult to solve the navigation problem in real time because the computation time is very long due to the…

With rapid advancements in exoskeleton hardware technologies, successful assessment and accurate control remain challenging. This study introduces a modular sensor-based system to enhance biomechanical evaluation and control in lower-limb…

Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…