Related papers: A comparative study of human inverse kinematics te…
This study focuses on the velocity patterns of various body parts during walking and proposes a method for evaluating gait symmetry. Traditional motion analysis studies have assessed gait symmetry based on differences in electromyographic…
Human neck postures and movements need to be monitored, measured, quantified and analyzed, as a preventive measure in healthcare applications. Improper neck postures are an increasing source of neck musculoskeletal disorders, requiring…
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…
Human-to-humanoid imitation learning aims to learn a humanoid whole-body controller from human motion. Motion retargeting is a crucial step in enabling robots to acquire reference trajectories when exploring locomotion skills. However,…
Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…
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…
Balance, gait and postural control are some of the key factors in determining the overall stability of an individual. Several highend and costly solutions exist to perform movement analysis in clinical settings. OpenSim is a tool which uses…
The range of rotation (RoR) in a knee exoskeleton is a critical factor in rehabilitation, as it directly influences joint mobility, muscle activation, and recovery outcomes. A well-designed RoR ensures that patients achieve near-natural…
This paper illustrates how multilevel functional models can detect and characterize biomechanical changes along different sport training sessions. Our analysis focuses on the relevant cases to identify differences in knee biomechanics in…
This paper presents an algorithm that makes novel use of a Lie group representation of position and orientation alongside a constrained extended Kalman filter (CEKF) to accurately estimate pelvis, thigh, and shank kinematics during walking…
This paper studies bipedal locomotion as a nonlinear optimization problem based on continuous and discrete dynamics, by simultaneously optimizing the remaining step duration, the next step duration and the foot location to achieve…
This paper presents the principal challenges and opportunities associated with computational biomechanics research. The underlying cognitive control involved in the process of human motion is inherently complex, dynamic, multidimensional,…
Walking is a key movement of interest in biomechanics, yet gold-standard data collection methods are time- and cost-expensive. This paper presents a real-time, multimodal, high sample rate lower-limb motion capture framework, based on…
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…
Leveraging wearable devices for motion reconstruction has emerged as an economical and viable technique. Certain methodologies employ sparse Inertial Measurement Units (IMUs) on the human body and harness data-driven strategies to model…
Recent studies confirm the applicability of Inertial Measurement Unit (IMU)-based systems for human motion analysis. Notwithstanding, high-end IMU-based commercial solutions are yet too expensive and complex to democratize their use among a…
In this letter, we present tightly coupled LiDAR-IMU-leg odometry, which is robust to challenging conditions such as featureless environments and deformable terrains. We developed an online learning-based leg kinematics model named the…
Parallel kinematic manipulators (PKM) are characterized by closed kinematic loops, due to the parallel arrangement of limbs but also due to the existence of kinematic loops within the limbs. Moreover, many PKM are built with limbs…
This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMUs), optimized and calibrated with ground truth data. The…
This article explores assistive devices for upper limb movement in people with disabilities through a systematic review based on the PRISMA methodology. The studied devices encompass technologies ranging from orthoses to advanced robotics,…