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We present an IoT-based intelligent bed sensor system that collects and analyses respiration-associated signals for unobtrusive monitoring in the home, hospitals and care units. A contactless device is used, which contains four load sensors…
Accurate inertial parameter identification is crucial for the simulation and control of robots encountering intermittent contact with the environment. Classically, robots' inertial parameters are obtained from CAD models that are not…
Background: Lower limb exoskeletons can enhance quality of life, but widespread adoption is limited by the lack of frameworks to assess their biomechanical and human-robot interaction effects, which are essential for developing adaptive and…
Robot mobility is critical for mission success, especially in soft or deformable terrains, where the complex wheel-soil interaction mechanics often leads to excessive wheel slip and sinkage, causing the eventual mission failure. To improve…
Contact variability, sensing uncertainty, and external disturbances make grasp execution stochastic. Expected-quality objectives ignore tail outcomes and often select grasps that fail under adverse contact realizations. Risk-sensitive…
We introduce a new dynamic model with the capability of recognizing both activities that an individual is performing as well as where that ndividual is located. Our model is novel in that it utilizes a dynamic graphical model to jointly…
Foot-mounted inertial sensors become popular in many indoor or GPS-denied applications, including but not limited to medical monitoring, gait analysis, soldier and first responder positioning. However, the foot-mounted inertial navigation…
Machine learning (ML) models have proven effective in classifying gait analysis data, e.g., binary classification of young vs. older adults. ML models, however, lack in providing human understandable explanations for their predictions. This…
Knowledge of how a body is oriented relative to the world is frequently invaluable information in the field of robotics. An attitude estimator that fuses 3-axis gyroscope, accelerometer and magnetometer data into a quaternion orientation…
Baseline generation for tracking applications is a difficult task when working with real world radar data. Data sparsity usually only allows an indirect way of estimating the original tracks as most objects' centers are not represented in…
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…
It is difficult to conduct training and evaluate workers' postural performance by using the actual job site environment due to safety concerns. Virtual reality (VR) provides an alternative to create immersive working environments without…
Wearable exoskeletons hold transformative promise for restoring mobility across diverse users with muscular weakness or other impairments. However, their translation beyond laboratory environments remains limited by sensing systems that…
Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states,…
Precise 6-DoF simultaneous localization and mapping (SLAM) from onboard sensors is critical for wearable devices capturing egocentric data, which exhibits specific challenges, such as a wider diversity of motions and viewpoints, prevalent…
Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfaces, such as GelSight sensors, can detect the rotation…
Entanglements like vines and branches in natural settings or cords and pipes in human spaces prevent mobile robots from accessing many environments. Legged robots should be effective in these settings, and more so than wheeled or tracked…
Musculoskeletal modeling and simulations enable the accurate description and analysis of the movement of biological systems with applications such as rehabilitation assessment, prosthesis, and exoskeleton design. However, the widespread…
It is essential that a robot has the ability to determine its position and orientation to execute tasks autonomously. Heading estimation is especially challenging in indoor environments where magnetic distortions make magnetometer-based…
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…