Related papers: Neuromuscular and Metabolic Responses during Repea…
Human locomotion involves continuously variable activities including walking, running, and stair climbing over a range of speeds and inclinations as well as sit-stand, walk-run, and walk-stairs transitions. Understanding the kinematics and…
Stroke can lead to the impaired motor ability of the patient's lower limbs and hemiplegia. Accurate assessment of the lower limbs' motor ability is important for diagnosis and rehabilitation. To digitalize such assessment so that each test…
In this research, attempts are made to conduct concrete muscle fatigue analysis of arbitrary motions on OpenSim, a digital human modeling platform. A plug-in is written on the base of a muscle fatigue model, which makes it possible to…
Accurate force/torque estimation is essential for applications such as powered exoskeletons, robotics, and rehabilitation. However, force/torque estimation under dynamic conditions is a challenging due to changing joint angles, force…
Locomotion is a natural task that has been assessed since decades and used as a proxy to highlight impairments of various origins. Most studies adopted classical linear analyses of spatio-temporal gait parameters. Here, we use more…
This paper presents a concurrent whole-body control (cWBC) for human-exoskeleton systems that are tightly coupled at a Cartesian level (e.g., feet, hands, torso). The exoskeleton generates joint torques that i) cancel the effects of gravity…
Muscle force sharing is typically resolved by minimizing a specific objective function to approximate neural control strategies. An inverse optimal control approach was applied to identify the "best" objective function, among a positive…
This Data Descriptor presents a fully open, multi-modal dataset for estimating vertical ground reaction force (vGRF) from consumer-grade Apple Watch sensors with laboratory force plate ground truth. Ten healthy adults aged 26--41 years…
Objective: As metabolic cost is a primary factor influencing humans' gait, we want to deepen our understanding of metabolic energy expenditure models. Therefore, this paper identifies the parameters and input variables, such as muscle or…
Partial-assistance exoskeletons hold significant potential for gait rehabilitation by promoting active participation during (re)learning of normative walking patterns. Typically, the control of interaction torques in partial-assistance…
Climbing is a multifaceted sport that combines physical demands and emotional and cognitive challenges. Ascent styles differ in fall distance with lead climbing involving larger falls than top rope climbing, which may result in different…
Motion behaviors of a rigid body can be characterized by a 6-dimensional motion trajectory, which contains position vectors of a reference point on the rigid body and rotations of this rigid body over time. This paper devises a Rotation and…
In recent years, a variety of deep learning networks for cardiac MRI (CMR) segmentation have been developed and analyzed. However, nearly all of them are focused on cine CMR under breathold. In this work, accuracy of deep learning methods…
We propose a unified reinforcement learning framework that enables a single policy to perform walking, running, and fall recovery on the Unitree G1 humanoid robot, validated on physical hardware without any explicit mode-switching command…
Mounting evidence suggests that adaptation is a crucial mechanism for rehabilitation robots in promoting motor learning. Yet, it is commonly based on robot-derived movement kinematics, which is a rather subjective measurement of…
A necessary capability for humanoid robots is the ability to stand and walk while rejecting natural disturbances. Recent progress has been made using sim-to-real reinforcement learning (RL) to train such locomotion controllers, with…
Repetitive falls degrade the quality of life of elderly people and of patients suffering of various neurological disorders. In order to prevent falls while walking, one should rely on relevant early indicators of impaired dynamic balance.…
PURPOSE: To present and assess an outlier mitigation method that makes free-running volumetric cardiovascular MRI (CMR) more robust to motion. METHODS: The proposed method, called compressive recovery with outlier rejection (CORe), models…
We study the middle cerebral artery blood flow velocity (MCAfv) in humans using transcranial Doppler ultrasonography (TCD). Scaling properties of time series of the axial flow velocity averaged over a cardiac beat interval may be…
Chronic upper extremity (UE) impairment is common after stroke. This study evaluated Boost, a novel wheelchair-mounted rehabilitation device designed to assist individuals in UE motor recovery during inpatient rehabilitation. Thirty-five…