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Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…

In this paper, an approach for gait assistance with a lower body exoskeleton is described. Two concepts, transparency and motion assistance, are combined. The transparent mode, where the system is following the user's free motion with a…

Postural stability during movement is fundamental to independent living, fall prevention, and overall health, particularly among older adults who experience age-related declines in balance, muscle strength, and mobility. Among daily…

Gait adaptation is an important part of gait analysis and its neuronal origin and dynamics has been studied extensively. In neurorehabilitation, it is important as it perturbs neuronal dynamics and allows patients to restore some of their…

In order to accurately identify the performance status of mobile devices and finely adjust the user experience, a real-time performance perception evaluation method based on TOPSIS (Technique for Order Preference by Similarity to Ideal…

Over the past few years, the division of gait phases has emerged as a complex area of research that carries significant importance for various applications in the field of gait technologies. The accurate partitioning of gait phases plays a…

Dynamic functional connectivity analysis provides valuable information for understanding brain functional activity underlying different cognitive processes. Besides sliding window based approaches, a variety of methods have been developed…

A human action can be seen as transitions between one's body poses over time, where the transition depicts a temporal relation between two poses. Recognizing actions thus involves learning a classifier sensitive to these pose transitions as…

Human-robot walking with prosthetic legs and exoskeletons, especially over complex terrains such as stairs, remains a significant challenge. Egocentric vision has the unique potential to detect the walking environment prior to physical…

Environment awareness is crucial for enhancing walking safety and stability of amputee wearing powered prosthesis when crossing uneven terrains such as stairs and obstacles. However, existing environmental perception systems for prosthesis…

This paper presents a pedestrian motion model that includes both low level trajectory patterns, and high level discrete transitions. The inclusion of both levels creates a more general predictive model, allowing for more meaningful…

Accurate gait event detection is crucial for gait analysis, rehabilitation, and assistive technology, particularly in exoskeleton control, where precise identification of stance and swing phases is essential. This study evaluated the…

Mastering psychomotor skills, such as those essential in sports, rehabilitation, and professional training, often requires a precise understanding of motion patterns and performance metrics. This study proposes a versatile framework for…

This paper addresses the challenge of accurately detecting the transition from the warmup phase to the steady state in performance metric time series, which is a critical step for effective benchmarking. The goal is to introduce a method…

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…

Real-time recognition and prediction of surgical activities are fundamental to advancing safety and autonomy in robot-assisted surgery. This paper presents a multimodal transformer architecture for real-time recognition and prediction of…

Learning a Markov Decision Process (MDP) from a fixed batch of trajectories is a non-trivial task whose outcome's quality depends on both the amount and the diversity of the sampled regions of the state-action space. Yet, many MDPs are…

Changes, planned or unexpected, are common during the execution of real-life processes. Detecting these changes is a must for optimizing the performance of organizations running such processes. Most of the algorithms present in the…

A transhumeral prosthesis restores missing anatomical segments below the shoulder, including the hand. Active prostheses utilize real-valued, continuous sensor data to recognize patient target poses, or goals, and proactively move the…

Sensor-based Human Activity Recognition facilitates unobtrusive monitoring of human movements. However, determining the most effective sensor placement for optimal classification performance remains challenging. This paper introduces a…