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Scalp electroencephalogram (EEG) signals inherently have a low signal-to-noise ratio due to the way the signal is electrically transduced. Temporal and spatial information must be exploited to achieve accurate detection of seizure events.…
This project describes the application of the technologies of Machine Learning and Internet-of-Things to assess the lower limb strength of individuals undergoing rehabilitation or therapy. Specifically, it seeks to measure and assess the…
This paper presents a study on the use of the Talos humanoid robot for performing assistive sit-to-stand or stand-to-sit tasks. In such tasks, the human exerts a large amount of force (100--200 N) within a very short time (2--8 s), posing…
Ensuring stable object placement is crucial to prevent objects from toppling over, breaking, or causing spills. When an object makes initial contact to a surface, and some force is exerted, the moment of rotation caused by the instability…
This study proposes a novel planning framework based on a model predictive control formulation that incorporates signal temporal logic (STL) specifications for task completion guarantees and robustness quantification. This marks the…
Vigilance of an operator is compromised in performing many monotonous activities like workshop and manufacturing floor tasks, driving, night shift workers, flying, and in general any activity which requires keen attention of an individual…
The stability of standing in humans is a complex process that leads to maintaining the upright position against external disturbances. Balance control during standing is of vital importance for humans in daily life. An issue that is still…
Bipedal robots are a prime example of systems which exhibit highly nonlinear dynamics, underactuation, and undergo complex dissipative impacts. This paper discusses methods used to overcome a wide variety of uncertainties, with the end…
We present SaSTL -- a novel Spatial Aggregation Signal Temporal Logic -- for the efficient runtime monitoring of safety and performance requirements in smart cities. We first describe a study of over 1,000 smart city requirements, some of…
Phone sensors could be useful in assessing changes in gait that occur with alcohol consumption. This study determined (1) feasibility of collecting gait-related data during drinking occasions in the natural environment, and (2) how…
By 2050, a quarter of the US population will be over the age of 65 with greater than a 40% risk of developing life-altering neuromusculoskeletal pathologies. The potential of wearables, such as Apple AirPods and hearing aids, to provide…
Freezing of gait (FOG) is one of the most incapacitating symptoms in Parkinsons disease, affecting more than 50 percent of patients in advanced stages of the disease. The presence of FOG may lead to falls and a loss of independence with a…
Postural body sway displacements for quiet standing subjects (measured with a new ultrasonic device) are reported. Two of the well known strategies for balancing, namely ankle and hip movements were probed. The data is modeled using a…
Poor posture is a significant concern due to its detrimental effects on health and productivity. This paper presents a collar-clipped device called PostureClip, designed to restrict users from sitting and working at a bent angle, by…
Stress remains a significant social problem for individuals in modern societies. This paper presents a machine learning approach for the automatic detection of stress of people in a social situation by combining two sensor systems that…
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…
Human pose estimation is a critical tool across a variety of healthcare applications. Despite significant progress in pose estimation algorithms targeting adults, such developments for infants remain limited. Existing algorithms for infant…
Step-counting has been widely implemented in wrist-worn devices and is accepted by end users as a quantitative indicator of everyday exercise. However, existing counting approach (mostly on wrist-worn setup) lacks robustness and thus…
In ski jumping, low repetition rates of jumps limit the effectiveness of training. Thus, increasing learning rate within every single jump is key to success. A critical element of athlete training is motor learning, which has been shown to…
Models of bipedal locomotion are hybrid, with a continuous component often generated by a Lagrangian plus actuators, and a discrete component where leg transfer takes place. The discrete component typically consists of a locally embedded…