相关论文: Controlling posture using a plantar pressure-based…

Background: Pressure mapping technology has been adapted to monitor over prolonged periods to evaluate pressure ulcer risk in individuals during extended lying postures. However, temporal pressure distribution signals are not currently used…

Increasing individuals' awareness of their own body signals can lead to improved interoception, enabling the brain to estimate current body states more accurately and in a timely manner. However, certain body signals, such as eye movements,…

Biofeedback is commonly used to regulate one's state, for example to manage stress. The underlying idea is that by perceiving a feedback about their physiological activity, a user can act upon it. In this paper we describe through two…

Maintaining stability during the single-support phase is a fundamental challenge in humanoid robotics, particularly in dance robots that require complex maneuvers and high mechanical freedom. Traditional tethered sensor configurations often…

Tactile sensing on human feet is crucial for motion control, however, has not been explored in robotic counterparts. This work is dedicated to endowing tactile sensing to legged robot's feet and showing that a single-legged robot can be…

Virtual Reality (VR) users often encounter postural instability, i.e., balance issues, which can be a significant impediment to universal usability and accessibility, particularly for those with balance impairments. Prior research has…

In this study, seated walk, a movement of walking while sitting on a chair with casters, is realized on a musculoskeletal humanoid from human teaching. The body is balanced by using buttock-contact sensors implemented on the planar…

Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee requires an active prosthesis, but has the potential to enable…

Sit-to-stand transitions are an important part of activities of daily living and play a key role in functional mobility in humans. The sit-to-stand movement is often affected in older adults due to frailty and in patients with motor…

This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D (spatial) bipedal robot consisting of a torso, two legs, and passive (unactuated) point feet. The contact between…

This article presents a study on different informative modalities of a perceptual supplementation device aiming at reducing overpressure at the buttock area. Visual, audio and tactile modalities are analysed and compared with a…

This manuscript presents control of a high-DOF fully actuated lower-limb exoskeleton for paraplegic individuals. The key novelty is the ability for the user to walk without the use of crutches or other external means of stabilization. We…

In this study, we present a feedforward control system designed for active gravity compensation on an upper body exoskeleton. The system utilizes only positional data from internal motor sensors to calculate torque, employing analytical…

We study the task of balancing a human on a log that is fixed in place. Balancing on a log is substantially more challenging than balancing on a flat surface due to increased instability -- nonetheless, we are able to balance by composing…

Human and humanoid posture control models usually rely on single or multiple degrees of freedom inverted pendulum representation of upright stance associated with a feedback controller. In models typically focused on the action between…

Powered ankle-foot prostheses can often reduce the energy cost of walking by assisting with push-off. However, focus on providing mechanical work may lead to ignoring or exacerbating common issues with chronic pain, irritation, pressure…

This paper proposes a prototype of a new biofeedback training based on mathematical models of cardiovascular control. For this purpose we develop a low-cost device that is able to record and process arterial pulse wave via…

This paper presents a modeling study of the way speech motor control can deal with gravity to achieve steady-state tongue positions. It is based on simulations carried out with the 3D biomechanical tongue model developed at ICP, which is…

This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements,…

Recent research has focused on the risks associated with poor sitting posture and the impact of sitting on biological parameters, such as heart rate because prolonged sitting is common across all ages and professions. In this work, we…