Related papers: Event Detection for Active Lower Limb Prosthesis
Spring-based actuators in legged locomotion provide energy-efficiency and improved performance, but increase the difficulty of controller design. While previous work has focused on extensive modeling and simulation to find optimal…
Gait abnormality detection is critical for the early discovery and progressive tracking of musculoskeletal and neurological disorders, such as Parkinson's and Cerebral Palsy. Especially, analyzing the foot-floor contacts during walking…
We tackle the problem of perceptive locomotion in dynamic environments. In this problem, a quadrupedal robot must exhibit robust and agile walking behaviors in response to environmental clutter and moving obstacles. We present a…
Our paper proposes a direct sparse visual odometry method that combines event and RGB-D data to estimate the pose of agile-legged robots during dynamic locomotion and acrobatic behaviors. Event cameras offer high temporal resolution and…
Calibration to experimental data is vital when developing subject-specific models towards developing digital twins. Yet, to date, subject-specific models are largely based on cadaveric testing, as in vivo data to calibrate against has been…
Early detection of an infection prior to prosthesis removal (e.g., hips, knees or other areas) would provide significant benefits to patients. Currently, the detection task is carried out only retrospectively with a limited number of…
In biomechanics and robotics, elasticity plays a crucial role in enhancing locomotion efficiency and stability. Traditional approaches in legged robots often employ series elastic actuators (SEA) with discrete rigid components, which, while…
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…
Objective: Muscle contractions are commonly detected by performing EMG measurements. The major disadvantage of this technique is that mechanical disturbances to the electrodes are in the same frequency and magnitude range as the desired…
Impedance controllers are popularly used in the field of lower limb prostheses and exoskeleton development. Such controllers assume the joint to be a spring-damper system described by a discrete set of equilibria and impedance parameters.…
A common challenge in home-based rehabilitation is muscle compensation induced by pain or fatigue, where patients with weakened primary muscles recruit secondary muscle groups to assist their movement, causing issues such as delayed…
This paper studies the design, control, and learning of a novel robotic limb that produces overconstrained locomotion by employing the Bennett linkage for motion generation, capable of parametric reconfiguration between a reptile- and…
This paper presents a novel approach to fall prediction for bipedal robots, specifically targeting the detection of potential falls while standing caused by abrupt, incipient, and intermittent faults. Leveraging a 1D convolutional neural…
Magnetic Resonance Imaging (MRI) is a widely-accepted imaging technique for knee injury analysis. Its advantage of capturing knee structure in three dimensions makes it the ideal tool for radiologists to locate potential tears in the knee.…
Deep learning for predicting or generating 3D human pose sequences is an active research area. Previous work regresses either joint rotations or joint positions. The former strategy is prone to error accumulation along the kinematic chain,…
Human locomotion emerges from high-dimensional neuromuscular control, making predictive musculoskeletal simulation challenging. We present a physiology-informed reinforcement-learning framework that constrains control using muscle…
As humans we possess an intuitive ability for navigation which we master through years of practice; however existing approaches to model this trait for diverse tasks including monitoring pedestrian flow and detecting abnormal events have…
Despite decades of study, many unknowns exist about the mechanisms governing human locomotion. Current models and motor control theories can only partially capture the phenomenon. This may be a major cause of the reduced efficacy of lower…
Legged robots promise higher versatility and the ability to traverse much more difficult terrains than their wheeled counterparts. Even though the use of legged robots have increased drastically in the last few years, they are still not…
Detecting the anomaly of human behavior is paramount to timely recognizing endangering situations, such as street fights or elderly falls. However, anomaly detection is complex since anomalous events are rare and because it is an open set…