Related papers: Development and Validation of a Modular Sensor-Bas…
This work demonstrates simultaneous pose (position and orientation) and shape estimation for a free-floating, bioinspired multi-link robot with unactuated joints, link-mounted thrusters for control, and a single gyroscope per link,…
Walking controllers often require parametrization which must be tuned according to some cost function. To estimate these parameters, simulations can be performed which are cheap but do not fully represent reality. Real-robot experiments, on…
This study focuses on the velocity patterns of various body parts during walking and proposes a method for evaluating gait symmetry. Traditional motion analysis studies have assessed gait symmetry based on differences in electromyographic…
Human identification is one of the most common and critical tasks for condition monitoring, human-machine interaction, and providing assistive services in smart environments. Recently, human gait has gained new attention as a biometric for…
Bipedal walking is one of the most important hallmarks of human that robots have been trying to mimic for many decades. Although previous control methodologies have achieved robot walking on some terrains, there is a need for a framework…
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…
The equinus foot is a neuromuscular condition that affects ankle dorsiflexion, impairing gait and reducing quality of life. This study presents EquiSay, a dynamic anti-equinus orthosis equipped with an anterior elastic tension system and an…
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified test postures. It employs a low-cost measuring system…
Detecting and characterising vehicles is one of the purposes of embedded systems used in intelligent environments. An analysis of a vehicle characteristics can reveal inappropriate or dangerous behaviour. This detection makes it possible to…
Advances in embedded devices and wireless sensor networks have resulted in new and inexpensive health care solutions. This paper describes the implementation and the evaluation of a wireless body sensor system that monitors human…
Gait analysis from videos obtained from a smartphone would open up many clinical opportunities for detecting and quantifying gait impairments. However, existing approaches for estimating gait parameters from videos can produce physically…
The online adaptation of exoskeleton control based on muscle activity sensing offers a promising approach to personalizing exoskeleton behavior based on the user's biosignals. While electromyography (EMG)-based methods have demonstrated…
Fetal movement count monitoring is one of the most commonly used methods of assessing fetal well-being. While few methods are available to monitor fetal movements, they consist of several adverse qualities such as unreliability as well as…
This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…
The kinematics of human movements and locomotion are closely linked to the activation and contractions of muscles. To investigate this, we present a multimodal dataset with benchmarks collected using a novel pair of Intelligent Knee Sleeves…
Machine learning methods are increasingly applied to ergonomic risk assessment in manual material handling, particularly for estimating carried load from gait motion data collected from wearable sensors. However, existing approaches often…
In this paper, we present a novel control framework to achieve robust push recovery on bipedal robots while locomoting. The key contribution is the unification of hybrid system models of locomotion with a reduced-order model predictive…
Freezing of gait (FOG) is a debilitating symptom of Parkinson's disease that impairs mobility and safety by increasing the risk of falls. An effective FOG detection system must be accurate, real-time, and deployable in free-living…
Effective rehabilitation methods are essential for the recovery of lower limb dysfunction caused by stroke. Nowadays, robotic exoskeletons have shown great potentials in rehabilitation. Nevertheless, traditional rigid exoskeletons are…
This paper presents advancements in the functionalities of the Recupera-Reha lower extremity exoskeleton robot. The exoskeleton features a series-parallel hybrid design characterized by multiple kinematic loops resulting in 148 degrees of…