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Within the last decade, running has become one of the most popular physical activities in the world. Although the benefits of running are numerous, there is a risk of Running Related Injuries (RRI) of the lower extremities. Electromyography…
Many users are confronted multiple times daily with the choice of whether to take the stairs or the elevator. Whereas taking the stairs could be beneficial for cardiovascular health and wellness, taking the elevator might be more convenient…
The simplified modeling of a complex system allied with a low-order controller structure can lead to poor closed-loop performance and robustness. A feasible solution is to avoid the necessity of a model by using data for the controller…
Efficient early diagnosis is paramount in addressing the complexities of Parkinson's disease because timely intervention can substantially mitigate symptom progression and improve patient outcomes. In this paper, we present a pioneering…
Estimation of the centre of pressure (COP) is an important part of the gait analysis, for example, when evaluating the functional capacity of individuals affected by motor impairment. Inertial measurement units (IMUs) and force sensors are…
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…
Despite its paramount importance for manifold use cases (e.g., in the health care industry, sports, rehabilitation and fitness assessment), sufficiently valid and reliable gait parameter measurement is still limited to high-tech gait…
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…
In-situ robotic exploration is an important tool for advancing knowledge of geological processes that describe the Earth and other Planetary bodies. To inform and enhance operations for these roving laboratories, it is imperative to…
The ESVC(Ellipse-based Segmental Varying Curvature) foot, a robot foot design inspired by the rollover shape of the human foot, significantly enhances the energy efficiency of the robot walking gait. However, due to the tilt of the…
As wearable electronics become increasingly prevalent, there is a rise in interest and demand for sustainably designed systems that are also energy self-sufficient. The research described in this paper investigated a shoe-worn energy…
Recognizing facial activity is a well-understood (but non-trivial) computer vision problem. However, reliable solutions require a camera with a good view of the face, which is often unavailable in wearable settings. Furthermore, in wearable…
Wheeled bipedal robots are emerging as flexible platforms for field exploration. However, head instability induced by uneven terrain can degrade the accuracy of onboard sensors or damage fragile payloads. Existing research primarily focuses…
Inertial motion analysis is having a growing interest during the last decades due to its advantages over classical optical systems. The technological solution based on inertial measurement units allows the measurement of movements in daily…
This paper evaluates the capabilities of a soft robotic pneumatic actuator derived from the terrain display haptic device, "The Smart Shoe." The bladder design of the Smart Shoe is upgraded to include a pressure supply and greater output…
Vision-based tactile sensors have gained extensive attention in the robotics community. The sensors are highly expected to be capable of extracting contact information i.e. haptic information during in-hand manipulation. This nature of…
In this paper, we introduce a novel device architecture that merges memristive devices with light-sensing surfaces, for energy-efficient motion recognition at the edge. Our light-sensing surface captures motion data through in-sensor…
Goal: This paper presents an algorithm for estimating pelvis, thigh, shank, and foot kinematics during walking using only two or three wearable inertial sensors. Methods: The algorithm makes novel use of a Lie-group-based extended Kalman…
Gait velocity has been consistently shown to be an important indicator and predictor of health status, especially in older adults. It is often assessed clinically, but the assessments occur infrequently and do not allow optimal detection of…
Recognizing and identifying human locomotion is a critical step to ensuring fluent control of wearable robots, such as transtibial prostheses. In particular, classifying the intended locomotion mode and estimating the gait phase are key. In…