Related papers: Learning a Shared Model for Motorized Prosthetic J…

Motion retargeting is a fundamental problem in computer graphics and computer vision. Existing approaches usually have many strict requirements, such as the source-target skeletons needing to have the same number of joints or share the same…

People with lower-limb loss, the majority of which use passive prostheses, exhibit a high incidence of falls each year. Powered lower-limb prostheses have the potential to reduce fall rates by actively helping the user recover from a…

In this paper, we propose a locomotion training framework where a control policy and a state estimator are trained concurrently. The framework consists of a policy network which outputs the desired joint positions and a state estimation…

We propose a new architecture for the learning of predictive spatio-temporal motion models from data alone. Our approach, dubbed the Dropout Autoencoder LSTM, is capable of synthesizing natural looking motion sequences over long time…

Human pose forecasting is the task of predicting articulated human motion given past human motion. There exists a number of popular benchmarks that evaluate an array of different models performing human pose forecasting. These benchmarks do…

One of the major challenges for autonomous vehicles in urban environments is to understand and predict other road users' actions, in particular, pedestrians at the point of crossing. The common approach to solving this problem is to use the…

State-of-the-art motorized hand prostheses are endowed with actuators able to provide independent and proportional control of as many as six degrees of freedom (DOFs). The control signals are derived from residual electromyographic (EMG)…

In recent years, studies have been actively conducted on combining large language models (LLM) and robotics; however, most have not considered end-to-end feedback in the robot-motion generation phase. The prediction of deep neural networks…

Synergistic prostheses enable the coordinated movement of the human-prosthetic arm, as required by activities of daily living. This is achieved by coupling the motion of the prosthesis to the human command, such as the residual limb…

Designing generalizable control policies for lower-limb exoskeletons remains fundamentally constrained by exhaustive data collection or iterative optimization procedures, which limit accessibility to clinical populations. To address this…

Upper limb and hand functionality is critical to many activities of daily living and the amputation of one can lead to significant functionality loss for individuals. From this perspective, advanced prosthetic hands of the future are…

Scientific forecasting typically relies on direct state prediction, an approach that grows brittle under data scarcity, extended horizons, non-stationary dynamics, or high-dimensional complexity. While raw state trajectories are highly…

3D human pose estimation errors would propagate along the human body topology and accumulate at the end joints of limbs. Inspired by the backtracking mechanism in automatic control systems, we design an Intra-Part Constraint module that…

Legged locomotion in constrained spaces (called crawl spaces) is challenging. In crawl spaces, current proprioceptive locomotion learning methods are difficult to achieve traverse because only ground features are inferred. In this study, a…

Loss of mobility or balance resulting from neural trauma is a critical consideration in public health. Robotic exoskeletons hold great potential for rehabilitation and assisted movement, yet optimal assist-as-needed (AAN) control remains…

Passive and non-obtrusive health monitoring using wearables can potentially bring new insights into the user's health status throughout the day and may support clinical diagnosis and treatment. However, identifying segments of free-living…

Human motion prediction is a fundamental part of many human-robot applications. Despite the recent progress in human motion prediction, most studies simplify the problem by predicting the human motion relative to a fixed joint and/or only…

Powered ankle-foot prostheses can often reduce the energy cost of walking by assisting with push-off. However, focus on providing mechanical work may lead to ignoring or exacerbating common issues with chronic pain, irritation, pressure…

Ankle sprains and instability are major public health concerns. Up to 70% of individuals do not fully recover from a single ankle sprain and eventually develop chronic ankle instability (CAI). The diagnosis of CAI has been mainly based on…

In the realm of exoskeleton control, achieving precise control poses challenges due to the mechanical delay of exoskeletons. To address this, incorporating future gait trajectories as feed-forward input has been proposed. However, existing…