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Gait analysis is an important aspect of clinical investigation for detecting neurological and musculoskeletal disorders and assessing the global health of a patient. In this paper we propose to focus our attention on extracting relevant…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
Harnessing human movements to command an Unmanned Aerial Vehicle (UAV) holds the potential to revolutionize their deployment, rendering it more intuitive and user-centric. In this research, we introduce a novel methodology adept at…
A quadruped robot is a promising system that can offer assistance comparable to that of dog guides due to its similar form factor. However, various challenges remain in making these robots a reliable option for blind and low-vision (BLV)…
Falls and their related injuries pose a significant risk to human health. One of the most common falls, the forward fall, frequently occurs among adults and the elderly. In this study, we propose using a human body model, developed using…
Locomotion of legged machines faces the problems of model complexity and computational costs. Algorithms based on complex models and/or reinforcement learning exist to solve the walking control task. In this project, we aim to develop a…
In the treatment of cervical pain, several techniques that are commonly used cannot indicate the patient pain-intensity, but only can identify structural damage. The evaluation of this pain-intensity can be achieved analyzing the cervical…
Biomechanical biofeedback may enhance rehabilitation and provide clinicians with more objective task evaluation. These feedbacks often rely on expensive motion capture systems, which restricts their widespread use, leading to the…
Quantifying human movement (kinematics) and musculoskeletal forces (kinetics) at scale, such as estimating quadriceps force during a sit-to-stand movement, could transform prediction, treatment, and monitoring of mobility-related…
Millimeter wave radar can measure distances, directions, and Doppler velocity for objects in harsh conditions such as fog. The 4D imaging radar with both vertical and horizontal data resembling an image can also measure objects' height.…
The analysis of human motion opens up a wide range of possibilities, such as realistic training simulations or authentic motions in robotics or animation. One of the problems underlying motion analysis is the meaningful comparison of…
Virtual reality (VR) is an important new technology that is fun-damentally changing the way people experience entertainment and education content. Due to the fact that most currently available VR products are one size fits all, the…
Microsoft Kinect camera and its skeletal tracking capabilities have been embraced by many researchers and commercial developers in various applications of real-time human movement analysis. In this paper, we evaluate the accuracy of the…
It is common to view people in real applications walking in arbitrary directions, holding items, or wearing heavy coats. These factors are challenges in gait-based application methods because they significantly change a person's appearance.…
This paper contributes towards the development of motion tracking algorithms for time-critical applications, proposing an infrastructure for solving dynamically the inverse kinematics of highly articulate systems such as humans. We present…
Gait analysis is the study of the systematic methods that assess and quantify animal locomotion. Gait finds a unique importance among the many state-of-the-art biometric systems since it does not require the subject's cooperation to the…
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. This is due to continued progress in three key areas: a mathematical understanding of locomotion, the computational ability to encode this…
Understanding human locomotion is crucial for AI agents such as robots, particularly in complex indoor home environments. Modeling human trajectories in these spaces requires insight into how individuals maneuver around physical obstacles…
In motion tracking of connected multi-body systems Inertial Measurement Units (IMUs) are used in a wide variety of applications, since they provide a low-cost easy-to-use method for orientation estimation. However, in indoor environments or…
Gait has been considered as a promising and unique biometric for person identification. Traditionally, gait data are collected using either color sensors, such as a CCD camera, depth sensors, such as a Microsoft Kinect, or inertial sensors,…