Related papers: Human Locomotion Implicit Modeling Based Real-Time…
To develop intelligent speech assistants and integrate them seamlessly with intra-operative decision-support frameworks, accurate and efficient surgical phase recognition is a prerequisite. In this study, we propose a multimodal framework…
The most concentrated application of lower-limb rehabilitation exoskeleton (LLE) robot is that it can help paraplegics "re-walk". However, "walking" in daily life is more than just walking on flat ground with fixed gait. This paper focuses…
Recent studies confirm the applicability of Inertial Measurement Unit (IMU)-based systems for human motion analysis. Notwithstanding, high-end IMU-based commercial solutions are yet too expensive and complex to democratize their use among a…
Construction tasks are inherently unpredictable, with dynamic environments and safety-critical demands posing significant risks to workers. Exoskeletons offer potential assistance but falter without accurate intent recognition across…
Detecting and preventing falls in humans is a critical component of assistive robotic systems. While significant progress has been made in detecting falls, the prediction of falls before they happen, and analysis of the transient state…
Monocular vertex-level human-scene contact prediction is a fundamental capability for interactive systems such as assistive monitoring, embodied AI, and rehabilitation analysis. In this work, we study this task jointly with single-image 3D…
Humanoid and legged robots interact with the environment through intermittent contacts, making accurate motion estimation fundamentally dependent on reasoning about contact dynamics. However, standard sensing pipelines-whether based on…
Employing an inertial measurement unit (IMU) as an additional sensor can dramatically improve both reliability and accuracy of visual/Lidar odometry (VO/LO). Different IMU integration models are introduced using different assumptions on the…
External feedback in the form of visual, auditory and tactile cues has been used to assist patients to overcome mobility challenges. However, these cues can become less effective over time. There is limited research on adapting cues to…
Gait event detection of the initial contact and toe off is essential for running gait analysis, allowing the derivation of parameters such as stance time. Heuristic-based methods exist to estimate these key gait events from tibial…
We present GazeMotion, a novel method for human motion forecasting that combines information on past human poses with human eye gaze. Inspired by evidence from behavioural sciences showing that human eye and body movements are closely…
The age and stroke-associated decline in musculoskeletal strength degrades the ability to perform daily human tasks using the upper extremities. Although there are a few examples of exoskeletons, they need manual operations due to the…
Human pose estimation aims at locating the specific joints of humans from the images or videos. While existing deep learning-based methods have achieved high positioning accuracy, they often struggle with generalization in occlusion…
Gait recognition is one of the most promising video-based biometric technologies. The edge of silhouettes and motion are the most informative feature and previous studies have explored them separately and achieved notable results. However,…
Stable traversal over geometrically complex terrain increasingly requires exteroceptive perception, yet prior perceptive humanoid locomotion methods often remain tied to explicit geometric abstractions, either by mediating control through…
Gait recognition is an emerging biometric technology that enables non-intrusive and hard-to-spoof human identification. However, most existing methods are confined to short-range, unimodal settings and fail to generalize to long-range and…
Robotic adaptation to unanticipated operating conditions is crucial to achieving persistence and robustness in complex real world settings. For a wide range of cutting-edge robotic systems, such as micro- and nano-scale robots, soft robots,…
This paper introduces a novel proprioceptive state estimator for legged robots based on a learned displacement measurement from IMU data. Recent research in pedestrian tracking has shown that motion can be inferred from inertial data using…
Accurate diagnosis of gait impairments is often hindered by subjective or costly assessment methods, with current solutions requiring either expensive multi-camera equipment or relying on subjective clinical observation. There is a critical…
Gait as a biometric property for person identification plays a key role in video surveillance and security applications. In gait recognition, normally, gait feature such as Gait Energy Image (GEI) is extracted from one full gait cycle.…