Related papers: Multi-feature Compensatory Motion Analysis for Rea…
This work explores non-prehensile manipulation (NPM) and whole-body interaction as strategies for enabling robotic manipulators to conduct manipulation tasks despite experiencing locked multi-joint (LMJ) failures. LMJs are critical system…
General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…
Background: Pressure mapping technology has been adapted to monitor over prolonged periods to evaluate pressure ulcer risk in individuals during extended lying postures. However, temporal pressure distribution signals are not currently used…
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…
Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstation-like counterparts. However, the field is generally lacking effective methods by which the user can operate the device: such…
This work presents the solution of the Signal Sleuths team for the 2024 HASCA WEAR challenge. The challenge focuses on detecting 18 workout activities (and the null class) using accelerometer data from 4 wearables - one worn on each limb.…
Flexible joint robots, in particularly those which are equipped with harmonic-drive gears, can feature elasticities with hysteresis. Under heavy loads and large joint torques the hysteresis lost motion can lead to significant errors of…
Intuitive control of prostheses relies on training algorithms to correlate biological recordings to motor intent. The quality of the training dataset is critical to run-time performance, but it is difficult to label hand kinematics…
Hypothesis testing procedures are developed to assess linear operator constraints in function-on-scalar regression when incomplete functional responses are observed. The approach enables statistical inferences about the shape and other…
Prolonged seated activity is increasingly common in modern environments, raising concerns around musculoskeletal health, ergonomics, and the design of responsive interactive systems. Existing posture sensing methods such as vision-based or…
To enable safe and efficient human-robot collaboration in shared workspaces it is important for the robot to predict how a human will move when performing a task. While predicting human motion for tasks not known a priori is very…
3D human pose estimation can be handled by encoding the geometric dependencies between the body parts and enforcing the kinematic constraints. Recently, Transformer has been adopted to encode the long-range dependencies between the joints…
Researchers increasingly leverage movement across multiple treatments to estimate causal effects. While these "mover regressions" are often motivated by a linear constant-effects model, it is not clear what they capture under weaker…
While automatic monitoring and coaching of exercises are showing encouraging results in non-medical applications, they still have limitations such as errors and limited use contexts. To allow the development and assessment of physical…
Sleep behaviour and in-bed movements contain rich information on the neurophysiological health of people, and have a direct link to the general well-being and quality of life. Standard clinical practices rely on polysomnography for sleep…
3D reconstruction serves as the foundational layer for numerous robotic perception tasks, including 6D object pose estimation and grasp pose generation. Modern 3D reconstruction methods for objects can produce visually and geometrically…
Active muscles are crucial for maintaining postural stability when seated in a moving vehicle. Advanced active 3D non-linear full body models have been developed for impact and comfort simulation, including large numbers of individual…
Head pose estimation and tracking is useful in variety of medical applications. With the advent of RGBD cameras like Kinect, it has become feasible to do markerless tracking by estimating the head pose directly from the point clouds. One…
We present a novel, reusable and task-agnostic primitive for assessing the outcome of a force-interaction robotic skill, useful e.g.\ for applications such as quality control in industrial manufacturing. The proposed method is easily…
This paper proposes a novel method for estimating the set of plausible poses of a rigid object from a set of points with volumetric information, such as whether each point is in free space or on the surface of the object. In particular, we…