Related papers: Simultaneous Locomotion Mode Classification and Co…
In this paper, an approach for gait assistance with a lower body exoskeleton is described. Two concepts, transparency and motion assistance, are combined. The transparent mode, where the system is following the user's free motion with a…
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…
Human locomotion involves continuously variable activities including walking, running, and stair climbing over a range of speeds and inclinations as well as sit-stand, walk-run, and walk-stairs transitions. Understanding the kinematics and…
Walking on compliant terrain presents a substantial challenge for individuals with lower-limb amputation, further elevating their already high risk of falling. While powered ankle-foot prostheses have demonstrated adaptability across speeds…
The design of gaits for robot locomotion can be a daunting process which requires significant expert knowledge and engineering. This process is even more challenging for robots that do not have an accurate physical model, such as compliant…
Legged robot locomotion is a challenging task due to a myriad of sub-problems, such as the hybrid dynamics of foot contact and the effects of the desired gait on the terrain. Accurate and efficient state estimation of the floating base and…
Measurement of stride-related, biomechanical parameters is the common rationale for objective gait impairment scoring. State-of-the-art double integration approaches to extract these parameters from inertial sensor data are, however,…
Impedance-based control represents a prevalent strategy in the powered trans femoral prostheses because of its ability to reproduce natural walking. However, most existing studies have developed impedance-based prosthesis controllers for…
In this study, a gait phase classification method based on SVM multiclass classification is introduced, with a focus on the precise identification of the stance and swing phases, which are further subdivided into seven phases. Data from…
Markerless pose estimation allows reconstructing human movement from multiple synchronized and calibrated views, and has the potential to make movement analysis easy and quick, including gait analysis. This could enable much more frequent…
In this paper, we propose a locomotion training framework where a control policy and a state estimator are trained concurrently. The framework consists of a policy network which outputs the desired joint positions and a state estimation…
Human-robot walking with prosthetic legs and exoskeletons, especially over complex terrains such as stairs, remains a significant challenge. Egocentric vision has the unique potential to detect the walking environment prior to physical…
This paper presents a novel approach to fall prediction for bipedal robots, specifically targeting the detection of potential falls while standing caused by abrupt, incipient, and intermittent faults. Leveraging a 1D convolutional neural…
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…
According to several reports published by worldwide organisations, thousands of pedestrians die in road accidents every year. Due to this fact, vehicular technologies have been evolving with the intent of reducing these fatalities. This…
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,…
Powered prostheses are effective for helping amputees walk on level ground, but these devices are inconvenient to use in complex environments. Prostheses need to understand the motion intent of amputees to help them walk in complex…
Estimation of temporospatial clinical features of gait (CFs), such as step count and length, step duration, step frequency, gait speed, and distance traveled, is an important component of community-based mobility evaluation using wearable…
Gait recognition is a term commonly referred to as an identification problem within the Computer Science field. There are a variety of methods and models capable of identifying an individual based on their pattern of ambulatory locomotion.…
Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…