Related papers: Human Locomotion Implicit Modeling Based Real-Time…
Inertial Measurement Unit (IMU) sensors are present in everyday devices such as smartphones and fitness watches. As a result, the array of health-related research and applications that tap onto this data has been growing, but little…
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 recognition is a biometric technology that recognizes the identity of humans through their walking patterns. Compared with other biometric technologies, gait recognition is more difficult to disguise and can be applied to the condition…
Designing generalizable control policies for lower-limb exoskeletons remains fundamentally constrained by exhaustive data collection or iterative optimization procedures, which limit accessibility to clinical populations. To address this…
Gait assessment is a key clinical indicator of fall risk and overall health in older adults. However, standard clinical practice is largely limited to stopwatch-measured gait speed. We present a pipeline that leverages a 3D Human Mesh…
An approach to model and estimate human walking kinematics in real-time for Physical Human-Robot Interaction is presented. The human gait velocity along the forward and vertical direction of motion is modelled according to the Yoyo-model.…
Gait recognition is a promising biometric with unique properties for identifying individuals from a long distance by their walking patterns. In recent years, most gait recognition methods used the person's silhouette to extract the gait…
Locomotion robots with active or passive compliance can show robustness to uncertain scenarios, which can be promising for agricultural, research and environmental industries. However, state estimation for these robots is challenging due to…
The human gait is a complex interplay between the neuronal and the muscular systems, reflecting an individual's neurological and physiological condition. This makes gait analysis a valuable tool for biomechanics and medical experts.…
The critical goal of gait recognition is to acquire the inter-frame walking habit representation from the gait sequences. The relations between frames, however, have not received adequate attention in comparison to the intra-frame features.…
Identifying humans with their walking sequences, known as gait recognition, is a useful biometric understanding task as it can be observed from a long distance and does not require cooperation from the subject. Two common modalities used…
Gait is increasingly recognized as a vital sign, yet current approaches treat it as a symptom of specific pathologies rather than a systemic biomarker. We developed a gait foundation model for 3D skeletal motion from 3,414 deeply phenotyped…
Movement disorders, such as Parkinson's disease, affect more than 10 million people worldwide. Gait analysis is a critical step in the diagnosis and rehabilitation of these disorders. Specifically, step length provides valuable insights…
Visual Inertial Odometry (VIO) is one of the most established state estimation methods for mobile platforms. However, when visual tracking fails, VIO algorithms quickly diverge due to rapid error accumulation during inertial data…
Exoskeletons have been shown to effectively assist humans during steady locomotion. However, their effects on non-steady locomotion, characterized by nonlinear phase progression within a gait cycle, remain insufficiently explored,…
MEMS Inertial Measurement Units (IMUs) as ubiquitous proprioceptive motion measurement devices are available on various everyday gadgets and robotic platforms. Nevertheless, the direct inference of geometrical transformations or odometry…
Robust locomotion control depends on accurate state estimations. However, the sensors of most legged robots can only provide partial and noisy observations, making the estimation particularly challenging, especially for external states like…
Motion disorders pose a significant global health concern and are often managed with pharmacological treatments that may lead to undesirable long-term effects. Current therapeutic strategies lack differentiation between healthy and…
We present a novel generative model, called Bidirectional GaitNet, that learns the relationship between human anatomy and its gait. The simulation model of human anatomy is a comprehensive, full-body, simulation-ready, musculoskeletal model…
Many gait recognition methods first partition the human gait into N-parts and then combine them to establish part-based feature representations. Their gait recognition performance is often affected by partitioning strategies, which are…