Related papers: Human Gait State Prediction Using Cellular Automat…
While humans are highly capable of recovering from external disturbances and uncertainties that result in large tracking errors, humanoid robots have yet to reliably mimic this level of robustness. Essential to this is the ability to…
Walking speed estimation is an essential component of mobile apps in various fields such as fitness, transportation, navigation, and health-care. Most existing solutions are focused on specialized medical applications that utilize body-worn…
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…
We present an autoencoder-based semi-supervised approach to classify perceived human emotions from walking styles obtained from videos or motion-captured data and represented as sequences of 3D poses. Given the motion on each joint in the…
Human movements are characterized by highly non-linear and multi-dimensional interactions within the motor system. Recently, an increasing emphasis on machine-learning applications has led to a significant contribution to the field of gait…
Detecting and preventing falls in humans is a critical component of assistive robotic systems. While significant progress has been made in detecting falls, the prediction of falls before they happen, and analysis of the transient state…
The biomechanics of the human body allow humans a range of possible ways of executing movements to attain specific goals. Nevertheless, humans exhibit significant patterns in how they execute movements. We propose that the observed patterns…
Current studies on human locomotion focus mainly on solid ground walking conditions. In this paper, we present a biomechanic comparison of human walking locomotion on solid ground and sand. A novel dataset containing 3-dimensional motion…
Building trajectories for biped robot walking is a complex task considering all degrees of freedom (DOFs) commonly bound within the mechanical structure. A typical problem for such robots is the instability produced by violent transitions…
Legged locomotion is commonly studied and expressed as a discrete set of gait patterns, like walk, trot, gallop, which are usually treated as given and pre-programmed in legged robots for efficient locomotion at different speeds. However,…
Gait abnormality detection is critical for the early discovery and progressive tracking of musculoskeletal and neurological disorders, such as Parkinson's and Cerebral Palsy. Especially, analyzing the foot-floor contacts during walking…
Step adjustment for humanoid robots has been shown to improve robustness in gaits. However, step duration adaptation is often neglected in control strategies. In this paper, we propose an approach that combines both step location and timing…
We introduce statistical methods for predicting the types of human activity at sub-second resolution using triaxial accelerometry data. The major innovation is that we use labeled activity data from some subjects to predict the activity…
Navigating our physical environment requires changing directions and turning. Despite its ecological importance, we do not have a unified theoretical account of non-straight-line human movement. Here, we present a unified optimality…
This paper introduces a framework for state estimation on a humanoid robot platform using only common proprioceptive sensors and knowledge of leg kinematics. The presented approach extends that detailed in [1] on a quadruped platform by…
Algorithms for state estimation of humanoid robots usually assume that the feet remain flat and in a constant position while in contact with the ground. However, this hypothesis is easily violated while walking, especially for human-like…
This study explored the potential of gait analysis as a tool for assessing post-injury complications, e.g., infection, malunion, or hardware irritation, in patients with lower extremity fractures. The research focused on the proficiency of…
Elderly gait is a source of rich information about their physical and mental health condition. As an alternative to the multiple sensors on the lower body parts, a single sensor on the pelvis has a positional advantage and an abundance of…
Human gait has been shown to provide crucial motion cues for various applications. Recognizing patterns in human gait has been widely adopted in various application areas such as security, virtual reality gaming, medical rehabilitation, and…
Positive biomechanical outcomes have been reported with lower-limb exoskeletons in laboratory settings, but these devices have difficulty delivering appropriate assistance in synchrony with human gait as the task or rate of phase…