Related papers: Estimating Lower Limb Kinematics using a Reduced W…
Quantitative estimation of human joint motion in daily living spaces is essential for early detection and rehabilitation tracking of neuromusculoskeletal disorders (e.g., Parkinson's) and mitigating trip and fall risks for older adults.…
Many applications involve humans in the loop, where continuous and accurate human motion monitoring provides valuable information for safe and intuitive human-machine interaction. Portable devices such as inertial measurement units (IMUs)…
Identification of inertial parameters is fundamental for the implementation of torque-based control in humanoids. At the same time, good models of friction and actuator dynamics are critical for the low-level control of joint torques. We…
In this work, we present a novel framework for on-line human gait stability prediction of the elderly users of an intelligent robotic rollator using Long Short Term Memory (LSTM) networks, fusing multimodal RGB-D and Laser Range Finder…
Due to the redundancy of our motor system, movements can be performed in many ways. While multiple motor control strategies can all lead to the desired behavior, they result in different joint and muscle forces. This creates opportunities…
Markerless estimation of 3D Kinematics has the great potential to clinically diagnose and monitor movement disorders without referrals to expensive motion capture labs; however, current approaches are limited by performing multiple…
Traditional force-controlled bipedal walking utilizes highly bent knees, resulting in high torques as well as inefficient, and unnatural motions. Even with advanced planning of center of mass height trajectories, significant amounts of…
Robotics system for rehabilitation of movement disorders and motion assistance are gaining increased intention. In this scenario estimation of ground contact is an active area of research in robotics and healthcare. This article addresses…
Video and wearable sensor data provide complementary information about human movement. Video provides a holistic understanding of the entire body in the world while wearable sensors provide high-resolution measurements of specific body…
Different technologies can acquire data for gait analysis, such as optical systems and inertial measurement units (IMUs). Each technology has its drawbacks and advantages, fitting best to particular applications. The presented multi-sensor…
Detecting walking pattern abnormalities in dairy cows early on holds the potential to reduce the occurrence of clinical lameness. This study aimed to predict gait scores in non-clinically lame dairy cows by using gait attributes based on…
This paper investigates the use of depth images as localisation sensors for 3D map building. The localisation information is derived from the 3D data thanks to the ICP (Iterative Closest Point) algorithm. The covariance of the ICP, and thus…
This paper introduces a 3D parallel robot with three identical five-degree-of-freedom chains connected to a circular brace end-effector, aimed to serve as an assistive device for patients with cervical spondylosis. The inverse kinematics of…
This work proposes algorithms for reconstruction of closed-loop pedestrian trajectories based on two foot-mounted inertial measurement units (IMU). The first proposed algorithm allows calculation of a trajectory using measurements from only…
Recently, through development of several 3d vision systems, widely used in various applications, medical and biometric fields. Microsoft kinect sensor have been most of used camera among 3d vision systems. Microsoft kinect sensor can obtain…
For leg exoskeletons to operate effectively in real-world environments, they must be able to perceive and understand the terrain around them. However, unlike other legged robots, exoskeletons face specific constraints on where depth sensors…
Estimation of temporospatial clinical features of gait (CFs), such as step count and length, step duration, step frequency, gait speed, and distance traveled, is an important component of community-based mobility evaluation using wearable…
An approach to model and estimate human walking kinematics in real-time for Physical Human-Robot Interaction is presented. The human gait velocity along the forward and vertical direction of motion is modelled according to the Yoyo-model.…
This research aims to quantify human walking patterns through depth cameras to (1) detect walking pattern changes of a person with and without a motion-restricting device or a walking aid, and to (2) identify distinct walking patterns from…
This study presents an innovative computer vision framework designed to analyze human movements in industrial settings, aiming to enhance biomechanical analysis by integrating seamlessly with existing software. Through a combination of…