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The Gravity Recovery and Climate Experiment (GRACE) satellite mission, spanning from 2002 to 2017, has provided a valuable dataset for monitoring variations in Earth's gravity field, enabling diverse applications in geophysics and…
One of the significant challenges in legged robotics is achieving accurate odometry using only onboard proprioceptive sensors. In this study, we present a complete leg odometry pipeline based on an Error-State EKF (ESEKF) that relies…
Over the past few years, the division of gait phases has emerged as a complex area of research that carries significant importance for various applications in the field of gait technologies. The accurate partitioning of gait phases plays a…
The fast-growing techniques of measuring and fusing multi-modal biomedical signals enable advanced motor intent decoding schemes of lowerlimb exoskeletons, meeting the increasing demand for rehabilitative or assistive applications of…
Quantifying step abundance via single wrist-worn accelerometers is a common approach for encouraging active lifestyle and tracking disease status. Nonetheless, step counting accuracy can be hampered by fluctuations in walking pace or…
Rehabilitation robotics continues to confront substantial challenges, particularly in achieving smooth, safe, and intuitive human-robot interactions for upper limb motor training. Many current systems depend on complex mechanical designs,…
Forecasting urban phenomena such as housing prices and public health indicators requires the effective integration of various geospatial data. Current methods primarily utilize task-specific models, while recent foundation models for…
Legged robot locomotion is a challenging task due to a myriad of sub-problems, such as the hybrid dynamics of foot contact and the effects of the desired gait on the terrain. Accurate and efficient state estimation of the floating base and…
Multi-camera systems are increasingly vital in the environmental perception of autonomous vehicles and robotics. Their physical configuration offers inherent fixed relative pose constraints that benefit Structure-from-Motion (SfM). 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…
A framework for tightly integrated motion mode classification and state estimation in motion-constrained inertial navigation systems is presented. The framework uses a jump Markov model to describe the navigation system's motion mode and…
Wearable and legged robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and inefficient for bearing conservative loads and for being…
Implementing dynamic locomotion behaviors on legged robots requires a high-quality state estimation module. Especially when the motion includes flight phases, state-of-the-art approaches fail to produce reliable estimation of the robot…
Work-related upper extremity musculoskeletal disorders (WRUED) are a major problem in modern societies as they affect the quality of life of workers and lead to absenteeism and productivity loss. According to studies performed in North…
Extensive research has been conducted on assessing grasp stability, a crucial prerequisite for achieving optimal grasping strategies, including the minimum force grasping policy. However, existing works employ basic feature-level fusion…
Accurate estimation of gait characteristics, including step length, step velocity, and travel distance, is critical for assessing mobility in toddlers, children and teens with Duchenne muscular dystrophy (DMD) and typically developing (TD)…
To address the need for high-precision localization of climbing robots in complex high-altitude environments, this paper proposes a multi-sensor fusion system that overcomes the limitations of single-sensor approaches. Firstly, the…
Lumbar disc herniation (LDH) is a prevalent orthopedic condition in clinical practice. Inertial measurement unit sensors (IMUs) are an effective tool for monitoring and assessing gait impairment in patients with lumbar disc herniation…
In this paper, we introduce a consistency-driven dual LSTM framework for accurately learning both the forward and inverse kinematics of a pneumatically actuated soft robotic arm integrated into a wearable device. This approach effectively…
Lower limb exoskeletons show promise to assist human movement, but their utility is limited by controllers designed for discrete, predefined actions in controlled environments, restricting their real-world applicability. We present an…