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Identifying the parameters of robotic systems, such as motor inertia or joint friction, is critical to satisfactory controller synthesis, model analysis, and observer design. Conventional identification techniques are designed primarily for…
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…
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…
Accurate estimation of spatial gait characteristics is critical to assess motor impairments resulting from neurological or musculoskeletal disease. Currently, however, methodological constraints limit clinical applicability of…
Recent years have witnessed an increasing global population affected by neurodegenerative diseases (NDs), which traditionally require extensive healthcare resources and human effort for medical diagnosis and monitoring. As a crucial…
Assessing gait impairment plays an important role in early diagnosis, disease monitoring, and treatment evaluation for neurodegenerative diseases. Despite its widespread use in clinical practice, it is limited by subjectivity and a lack of…
Gait analysis is the study of the systematic methods that assess and quantify animal locomotion. Gait finds a unique importance among the many state-of-the-art biometric systems since it does not require the subject's cooperation to the…
In the control of lower-limb exoskeletons with feet, the phase in the gait cycle can be identified by monitoring the weight distribution at the feet. This phase information can be used in the exoskeleton's controller to compensate the…
Robotic adaptation to unanticipated operating conditions is crucial to achieving persistence and robustness in complex real world settings. For a wide range of cutting-edge robotic systems, such as micro- and nano-scale robots, soft robots,…
Current exoskeleton control methods often face challenges in delivering personalized treatment. Standardized walking gaits can lead to patient discomfort or even injury. Therefore, personalized gait is essential for the effectiveness of…
Gait analysis, an expanding research area, employs non invasive sensors and machine learning techniques for a range of applicatio ns. In this study, we concentrate on gait analysis for detecting cognitive decline in Parkinson's disease (PD)…
Gait recognition is a biometric technology that recognizes the identity of humans through their walking patterns. Compared with other biometric technologies, gait recognition is more difficult to disguise and can be applied to the condition…
Objective: In this paper, we demonstrate the applicability of radar for gait classification with application to home security, medical diagnosis, rehabilitation and assisted living. Aiming at identifying changes in gait patterns based on…
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…
Gait analysis (GA) has been widely used in physical activity monitoring and clinical contexts, and the estimation of the spatial-temporal gait parameters is of primary importance for GA. With the quick development of smart tiny sensors, GA…
Gait, as one of unique biometric features, has the advantage of being recognized from a long distance away, can be widely used in public security. Considering 3D pose estimation is more challenging than 2D pose estimation in practice , we…
Long Short-Term Memory (LSTM) neural networks have penetrated healthcare applications where real-time requirements and edge computing capabilities are essential. Gait analysis that detects abnormal steps to prevent patients from falling is…
The applicability of Doppler radar for gait analysis is investigated by quantitatively comparing the measured biomechanical parameters to those obtained using motion capturing and ground reaction forces. Nineteen individuals walked on a…
Powered prostheses are capable of providing net positive work to amputees and have advanced in the past two decades. However, reducing amputee metabolic cost of walking remains an open problem. The Law of Intersegmental Coordination (ISC)…
Surveillance footage represents a valuable resource and opportunities for conducting gait analysis. However, the typical low quality and high noise levels in such footage can severely impact the accuracy of pose estimation algorithms, which…