Related papers: Hybrid LSTM-UKF Framework: Ankle Angle and Ground …
This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMUs), optimized and calibrated with ground truth data. The…
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…
We introduce a unified framework for gentle robotic grasping that synergistically couples real-time friction estimation with adaptive grasp control. We propose a new particle filter-based method for real-time estimation of the friction…
Reliability theory is used to assess the sensitivity of a passive flexion and active flexion of the human lower leg Finite Element (FE) models with Total Knee Replacement (TKR) to the variability in the input parameters of the respective FE…
Foot trajectory planning for dry adhesion legged climbing robots presents challenges, as the phases of foot detachment, swing, and adhesion significantly influence the adhesion and detachment forces essential for stable climbing. To tackle…
Evaluating distance to collision for robot manipulators is useful for assessing the feasibility of a robot configuration or for defining safe robot motion in unpredictable environments. However, distance estimation is a timeconsuming…
Robotics system for rehabilitation of movement disorders and motion assistance are gaining increased intention. In this scenario estimation of ground contact is an active area of research in robotics and healthcare. This article addresses…
This paper proposes an online bipedal footstep planning strategy that combines model predictive control (MPC) and reinforcement learning (RL) to achieve agile and robust bipedal maneuvers. While MPC-based foot placement controllers have…
This study proposes a reinforcement learning-based adaptive running motion simulation for a unilateral transtibial amputee with the flexibility of a leaf-spring-type sports prosthesis using hybrid-link system. The design and selection of…
Accurate gait event detection is crucial for gait analysis, rehabilitation, and assistive technology, particularly in exoskeleton control, where precise identification of stance and swing phases is essential. This study evaluated the…
Recently, the lower limb exoskeletons which providemobility for paraplegic patients to support their daily life havedrawn much attention. However, the pilots are required to applyexcessive force through a pair of crutches to maintain…
Extracting activation patterns from functional Magnetic Resonance Images (fMRI) datasets remains challenging in rapid-event designs due to the inherent delay of blood oxygen level-dependent (BOLD) signal. The general linear model (GLM)…
Attitude and heading reference systems (AHRS) play a central role in autonomous navigation systems on land, air and maritime platforms. AHRS utilize inertial sensor measurements to estimate platform orientation. In recent years, there has…
Legged robots face significant challenges in navigating complex environments, as they require precise real-time decisions for foothold selection and contact planning. While existing research has explored methods to select footholds based on…
Previous gait recognition methods primarily trained on labeled datasets, which require painful labeling effort. However, using a pre-trained model on a new dataset without fine-tuning can lead to significant performance degradation. So to…
Monocular scene flow estimation aims to recover dense 3D motion from image sequences, yet most existing methods are limited to two-frame inputs, restricting temporal modeling and robustness to occlusions. We propose RAFT-MSF++, a…
Humanoid robots operating in human-centered environments (e.g., homes, hospitals, and offices) must mitigate foot--ground impact transients, as impact-induced vibration and noise degrade user experience and repeated impacts accelerate…
Obstacle crossing is an essential component of human locomotion, particularly for individuals with lower limb amputations who face elevated risks of imbalance and falls. While prior studies have explored this task, they often lack a…
In this paper, we study the regulation of the Ground Contact Forces (GRF) in thruster-assisted legged locomotion. We will employ Reference Governors (RGs) for enforcing GRF constraints in Harpy model which is a bipedal robot that is being…
Velocity estimation is of great importance in autonomous racing. Still, existing solutions are characterized by limited accuracy, especially in the case of aggressive driving or poor generalization to unseen road conditions. To address…