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This paper presents a novel autonomous quality metric to quantify the rehabilitations progress of subjects with knee/hip operations. The presented method supports digital analysis of human gait patterns using smartphones. The algorithm…
Lower limb exoskeletons and prostheses require precise, real time gait phase and step detections to ensure synchronized motion and user safety. Conventional methods often rely on complex force sensing hardware that introduces control…
A typical gait analysis requires the examination of the motion of nine joint angles on the left-hand side and six joint angles on the right-hand side across multiple subjects. Due to the quantity and complexity of the data, it is useful to…
This paper presents a method to generate feasible, unique forward-kinematic solutions for a general Stewart platform. This is done by using inverse kinematics to obtain valid workspace data and corresponding actuator lengths for the moving…
Gait recognition captures gait patterns from the walking sequence of an individual for identification. Most existing gait recognition methods learn features from silhouettes or skeletons for the robustness to clothing, carrying, and other…
This work presents a description of the EXOSMOOTH project, oriented to the benchmarking of lower limb exoskeletons performance. In the field of assisted walking by powered lower limb exoskeletons, the EXOSMOOTH project proposes an…
Robotic prostheses and exoskeletons can do wonders compared to their non-robotic counterpart. However, in a cost-soaring world where 1 in every 10 patients has access to normal medical prostheses, access to advanced ones is, unfortunately,…
Monocular 3D human pose estimation technologies have the potential to greatly increase the availability of human movement data. The best-performing models for single-image 2D-3D lifting use graph convolutional networks (GCNs) that typically…
Gait abnormality detection is critical for the early discovery and progressive tracking of musculoskeletal and neurological disorders, such as Parkinson's and Cerebral Palsy. Especially, analyzing the foot-floor contacts during walking…
This paper compares three controllers for quasi-passive exoskeletons. The Utility Maximizing Controller (UMC) uses intent estimation to recognize user motions and decision theory to activate the support mechanism. The intent estimation…
This study presents a transformer-based deep learning framework for the long-horizon prediction of full lower-limb joint angles and joint moments using surface electromyography (sEMG) and inertial measurement unit (IMU) signals. Two…
The widely held belief that squat lifting should be preferred over stoop lifting to prevent back injury is increasingly being challenged by recent biomechanical evidence. However, most of these studies only focus on very localized…
This study investigates the application of general human motion encoders trained on large-scale human motion datasets for analyzing gait patterns in PD patients. Although these models have learned a wealth of human biomechanical knowledge,…
Gait analysis is critical in the early detection and intervention of motor neurological disorders in infants. Despite its importance, traditional methods often struggle to model the high variability and rapid developmental changes inherent…
Accurate estimation of gait characteristics, including step length, step velocity, and travel distance, is critical for assessing mobility in toddlers, children and teens with Duchenne muscular dystrophy (DMD) and typically developing (TD)…
Positive biomechanical outcomes have been reported with lower-limb exoskeletons in laboratory settings, but these devices have difficulty delivering appropriate assistance in synchrony with human gait as the task or rate of phase…
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…
Many studies decompose human motion into local motion in a frame attached to the root joint and global motion of the root joint in the world frame, treating them separately. However, these two components are not independent. Global movement…
We develop a generalized method of moments (GMM) approach for fast parameter estimation in a new class of Dirichlet latent variable models with mixed data types. Parameter estimation via GMM has been demonstrated to have computational and…
Human-machine interfaces (HMI) play a pivotal role in the rehabilitation and daily assistance of lower-limb amputees. The brain of such interfaces is a control model that detects the user's intention using sensor input and generates…