Related papers: Dynamic Gait Modelling of Lower Limb Dynamics : A …
The modeling and simulation of coupled neuromusculoskeletal-exoskeletal systems play a crucial role in human biomechanical analysis, as well as in the design and control of exoskeletons. However, conventional dynamic simulation frameworks…
Motion prediction is a classic problem in computer vision, which aims at forecasting future motion given the observed pose sequence. Various deep learning models have been proposed, achieving state-of-the-art performance on motion…
The biomechanics of the human body allow humans a range of possible ways of executing movements to attain specific goals. This range of movement is limited by a number of mechanical, biomechanical, or cognitive constraints. Shifts in these…
We present results of an analytic and numerical calculation that studies the relationship between the time of initial foot contact and the ground reaction force of human gait and explores the dynamic principle of center of mass. Assuming…
A sensitivity-based approach for computing over-approximations of reachable sets, in the presence of constant parameter uncertainties and a single initial state, is used to analyze a three-link planar robot modeling a Powered Lower Limb…
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It employs a low-cost measuring system…
One of the essential aspects of humanoid robot running is determining the limb-swinging trajectories. During the flight phases, where the ground reaction forces are not available for regulation, the limb swinging trajectories are…
In this research, we present an innovative method known as a physics-informed neural network (PINN) model to predict multi-joint kinematics using electromyography (EMG) signals recorded from the muscles surrounding these joints across…
The problem of biped locomotion at steady speeds is discussed through a Lagrangian formulation developed for velocity-dependent, body driving forces. Human walking on a level surface is analyzed in terms of the data on the resultant…
Physical interaction between individuals plays an important role in human motor learning and performance during shared tasks. Using robotic devices, researchers have studied the effects of dyadic haptic interaction mostly focusing on the…
Advances in wearable robotics challenge the traditional definition of human motor systems, as wearable robots redefine body structure, movement capability, and perception of their own bodies. We measured gait performance and perceived body…
To advance the development of assistive and rehabilitation robots, it is essential to conduct experiments early in the design cycle. However, testing early prototypes directly with users can pose safety risks. To address this, we explore…
We have developed biped robots with a passive dynamic walking mechanism. This study proposes a compass model with a wobbling mass connected to the upper body and oscillating in the horizontal direction to clarify the influence of the…
This study describes a method to quantify potential gait changes in human subjects. Microsoft Kinect devices were used to provide and track coordinates of fifteen different joints of a subject over time. Three male subjects walk a 10-foot…
Linear finite dynamical systems play an important role, for example, in coding theory and simulations. Methods for analyzing such systems are often restricted to cases in which the system is defined over a field %and usually strive to…
In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…
Human muscle fatigue is considered to be one of the main reasons for Musculoskeletal Disorder (MSD). Recent models have been introduced to define muscle fatigue for static postures. However, the main drawbacks of these models are that the…
Inertial motion analysis is having a growing interest during the last decades due to its advantages over classical optical systems. The technological solution based on inertial measurement units allows the measurement of movements in daily…
Consider briefly the equations of fluid dynamics-they describe the enormous wealth of detail in all the interacting physical elements of a fluid flow-whereas in applications we want to deal with a description of just that which is…
Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model-based whole-body kinematics estimation algorithm using…