Related papers: Deep Learning for Human Locomotion Analysis in Low…
Ankle exoskeletons have garnered considerable interest for their potential to enhance mobility and reduce fall risks, particularly among the aging population. The efficacy of these devices relies on accurate real-time prediction of the…
To improve the control of wearable robotics for gait assistance, we present an approach for continuous locomotion mode recognition as well as gait phase and stair slope estimation based on artificial neural networks that include time…
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 work presents a wearable human activity recognition (HAR) system that performs real-time inference directly inside a shank-mounted inertial measurement unit (IMU) to support low-latency control of a lower-limb exoskeleton. Unlike…
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…
Partial-assistance exoskeletons hold significant potential for gait rehabilitation by promoting active participation during (re)learning of normative walking patterns. Typically, the control of interaction torques in partial-assistance…
Human motion analysis is used in many different fields and applications. Currently, existing systems either focus on one single limb or one single class of movements. Many proposed systems are designed to be used in an indoor controlled…
Accurate classification of lower limb movements using surface electromyography (sEMG) signals plays a crucial role in assistive robotics and rehabilitation systems. In this study, we present a lightweight attention-based deep neural network…
3D Human Motion Indexing and Retrieval is an interesting problem due to the rise of several data-driven applications aimed at analyzing and/or re-utilizing 3D human skeletal data, such as data-driven animation, analysis of sports…
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 detection of locomotion transitions, such as walk to sit, walk to stair ascent, and descent, is crucial to effectively control robotic assistive devices, such as lower-limb exoskeletons, as each locomotion mode requires specific…
Gait phase estimation based on inertial measurement unit (IMU) signals facilitates precise adaptation of exoskeletons to individual gait variations. However, challenges remain in achieving high accuracy and robustness, particularly during…
In this paper, we report a hierarchical deep learning model for classification of complex human activities using motion sensors. In contrast to traditional Human Activity Recognition (HAR) models used for event-based activity recognition,…
We present a method to improve the accuracy of a zero-velocity-aided inertial navigation system (INS) by replacing the standard zero-velocity detector with a long short-term memory (LSTM) neural network. While existing threshold-based…
Walking-assistive devices require adaptive control methods to ensure smooth transitions between various modes of locomotion. For this purpose, detecting human locomotion modes (e.g., level walking or stair ascent) in advance is crucial for…
Accurate lower-limb joint kinematic estimation is critical for applications such as patient monitoring, rehabilitation, and exoskeleton control. While previous studies have employed wearable sensor-based deep learning (DL) models for…
One of the fundamental challenges in realizing the potential of legged robots is generating plans to traverse challenging terrains. Control actions must be carefully selected so the robot will not crash or slip. The high dimensionality of…
This paper addresses the medical imaging problem of joint detection in the upper limbs, viz. elbow, shoulder, wrist and finger joints. Localization of joints from X-Ray and Computerized Tomography (CT) scans is an essential step for the…
Recently, biped robot walking technology has been significantly developed, mainly in the context of a bland walking scheme. To emulate human walking, robots need to step on the positions they see in unknown spaces accurately. In this paper,…
In contrast to quadruped robots that can navigate diverse terrains using a "blind" policy, humanoid robots require accurate perception for stable locomotion due to their high degrees of freedom and inherently unstable morphology. However,…