Related papers: A comparative study of human inverse kinematics te…

Currently, lower limb robotic rehabilitation is widely developed, However, the devices used so far seem to not have a uniform criteria for their design, because, on the contrary, each developed mechanism is often presented as if it does not…

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…

Designing an exoskeleton to reduce the risk of low-back injury during lifting is challenging. Computational models of the human-robot system coupled with predictive movement simulations can help to simplify this design process. Here, we…

This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance within their workspace. The common approach…

Inverse dynamic analysis using musculoskeletal modeling is a powerful tool, which is utilized in a range of applications to estimate forces in ligaments, muscles, and joints, non-invasively. To date, the conventional input used in this…

Recovering whole-body mesh by inferring the abstract pose and shape parameters from visual content can obtain 3D bodies with realistic structures. However, the inferring process is highly non-linear and suffers from image-mesh misalignment,…

Human pose estimation has witnessed significant advancements in recent years, mainly due to the integration of deep learning models, the availability of a vast amount of data, and large computational resources. These developments have led…

Inertial measurement units have the ability to accurately record the acceleration and angular velocity of human limb segments during discrete joint movements. These movements are commonly used in exercise rehabilitation programmes following…

This paper introduces a new invariant extended Kalman filter design that produces real-time state estimates and rapid error convergence for the estimation of the human body movement even in the presence of sensor misalignment and initial…

Traditional geometric inverse kinematics methods for parallel mechanisms rely on specific spatial geometry constraints. However, their application to redundant parallel mechanisms is challenged due to the increased constraint complexity.…

Inertial measurement units (IMUs) increasingly function as a basic component of wearable sensor network (WSN)systems. IMU-based joint angle estimation (JAE) is a relatively typical usage of IMUs, with extensive applications. However, the…

While automatic monitoring and coaching of exercises are showing encouraging results in non-medical applications, they still have limitations such as errors and limited use contexts. To allow the development and assessment of physical…

To allow the development and assessment of physical rehabilitation by an intelligent tutoring system, we propose a medical dataset of clinical patients carrying out low back-pain rehabilitation exercises and benchmark on state of the art…

Human-robot physical interaction contains crucial information for optimizing user experience, enhancing robot performance, and objectively assessing user adaptation. This study introduces a new method to evaluate human-robot co-adaptation…

Involuntary motion during weight-bearing cone-beam computed tomography (CT) scans of the knee causes artifacts in the reconstructed volumes making them unusable for clinical diagnosis. Currently, image-based or marker-based methods are…

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…

Most locomotion methods for humanoid robots focus on leg-based gaits, yet natural bipeds frequently rely on hands, knees, and elbows to establish additional contacts for stability and support in complex environments. This paper introduces…

Advances in machine learning and wearable sensors offer new opportunities for capturing and analyzing human movement outside specialized laboratories. Accurate assessment of human movement under real-world conditions is essential for…

This paper presents the inverse kinematic analysis and parameters identification of a novel aerial manipulation system. This system consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution…

This paper presents a motion data augmentation scheme incorporating motion synthesis encouraging diversity and motion correction imposing physical plausibility. This motion synthesis consists of our modified Variational AutoEncoder (VAE)…