Related papers: Evaluation of Embedded Platforms for Lower Limb Pr…
Legged locomotion benefits from embodied sensing, where perception emerges from the physical interaction between body and environment. We present a soft-surfaced, vision-based tactile foot sensor that endows a bipedal robot with a skin-like…
Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid body designs and an optical tracking volume setup for…
Most Gaze estimation research only works on a setup condition that a camera perfectly captures eyes gaze. They have not literarily specified how to set up a camera correctly for a given position of a person. In this paper, we carry out a…
Building semantic 3D maps is valuable for searching for objects of interest in offices, warehouses, stores, and homes. We present a mapping system that incrementally builds a Language-Embedded Gaussian Splat (LEGS): a detailed 3D scene…
Traversing risky terrains with sparse footholds presents significant challenges for legged robots, requiring precise foot placement in safe areas. To acquire comprehensive exteroceptive information, prior studies have employed motion…
Robotic assistance presents an opportunity to benefit the lives of many people with physical disabilities, yet accurately sensing the human body and tracking human motion remain difficult for robots. We present a multidimensional capacitive…
Realtime perceptual and interaction capabilities in mixed reality require a range of 3D tracking problems to be solved at low latency on resource-constrained hardware such as head-mounted devices. Indeed, for devices such as HoloLens 2…
This paper addresses the challenge of grading visual features in lumbar spine MRI using Deep Learning. Such a method is essential for the automatic quantification of structural changes in the spine, which is valuable for understanding low…
The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a…
Synergies have been adopted in prosthetic limb applications to reduce complexity of design, but typically involve a single synergy setting for a population and ignore individual preference or adaptation capacity. However, personalization of…
Shopping behaviour analysis through counting and tracking of people in shop-like environments offers valuable information for store operators and provides key insights in the stores layout (e.g. frequently visited spots). Instead of using…
Powered prostheses are capable of providing net positive work to amputees and have advanced in the past two decades. However, reducing amputee metabolic cost of walking remains an open problem. The Law of Intersegmental Coordination (ISC)…
Powered hip exoskeletons have shown the ability for locomotion assistance during treadmill walking. However, providing suitable assistance in real-world walking scenarios which involve changing terrain remains challenging. Recent research…
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…
This paper is the first to introduce the idea of using reconfigurable intelligent surfaces (RISs) as passive devices that measure the position and orientation of certain human body parts over time. In this paper, we investigate the…
In this paper, we propose a method for selecting the optimal footholds for legged systems. The goal of the proposed method is to find the best foothold for the swing leg on a local elevation map. We apply the Convolutional Neural Network to…
Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…
A central challenge in building robotic prostheses is the creation of a sensor-based system able to read physiological signals from the lower limb and instruct a robotic hand to perform various tasks. Existing systems typically perform…
Recent advancements in legged robot perceptive locomotion have shown promising progress. However, terrain-aware humanoid locomotion remains largely constrained to two paradigms: depth image-based end-to-end learning and elevation map-based…
Powered prostheses are effective for helping amputees walk on level ground, but these devices are inconvenient to use in complex environments. Prostheses need to understand the motion intent of amputees to help them walk in complex…