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Psychological studies indicate that emotional states are expressed in the way people walk and the human gait is investigated in terms of its ability to reveal a person's emotional state. And Microsoft Kinect is a rapidly developing,…
Multiple sclerosis (MS) is a progressive inflammatory and neurodegenerative disease of the central nervous system affecting over 2.5 million people globally. In-clinic six-minute walk test (6MWT) is a widely used objective measure to…
Gait assessment is a key clinical indicator of fall risk and overall health in older adults. However, standard clinical practice is largely limited to stopwatch-measured gait speed. We present a pipeline that leverages a 3D Human Mesh…
Gait velocity has been consistently shown to be an important indicator and predictor of health status, especially in older adults. Gait velocity is often assessed clinically, but the assessments occur infrequently and thus do not allow…
The analysis of human movements has been extensively studied due to its wide variety of practical applications, such as human-robot interaction, human learning applications, or clinical diagnosis. Nevertheless, the state-of-the-art still…
Recently, biped robot walking technology has been significantly developed, mainly in the context of a bland walking scheme. To emulate human walking, robots need to step on the positions they see in unknown spaces accurately. In this paper,…
Quantification of human movement is a challenge in many areas, ranging from physical therapy to robotics. We quantify of human movement for the purpose of providing automated exercise coaching in the home. We developed a model-based…
This study presents an innovative approach to optimal gait control for a soft quadruped robot enabled by four Compressible Tendon-driven Soft Actuators (CTSAs). Improving our previous studies of using model-free reinforcement learning for…
Positron Emission Tomography (PET) enables functional imaging of deep brain structures, but the bulk and weight of current systems preclude their use during many natural human activities, such as locomotion. The proposed long-term solution…
Studying animal locomotion improves our understanding of motor control and aids in the treatment of motor impairment. Mice are a premier model of human disease and are the model system of choice for much of basic neuroscience. High frame…
This work presents a description of the EXOSMOOTH project, oriented to the benchmarking of lower limb exoskeletons performance. In the field of assisted walking by powered lower limb exoskeletons, the EXOSMOOTH project proposes an…
Realizing bipedal locomotion on humanoid robots with point feet is especially challenging due to their highly underactuated nature, high degrees of freedom, and hybrid dynamics resulting from impacts. With the goal of addressing this…
The assessment and treatment of motor symptoms such as tremor in Parkinson's disease depends exclusively on the physician's visual observation of standardised movements (i.e. motor tasks). Wearable sensors such as accelerometers are able to…
Balance is the fundamental skill behind human locomotion, and its impairment is the principal indicator of self-perceived disability. Despite significant improvements in balance assessment, there is still large incidence of fall related…
It remains challenging to achieve human-like locomotion in legged robots due to fundamental discrepancies between biological and mechanical structures. Although imitation learning has emerged as a promising approach for generating natural…
Given a network of $N$ static nodes in $D$-dimensional space and the pairwise distances between them, the challenge of estimating the coordinates of the nodes is a well-studied problem. However, for numerous application domains, the nodes…
This paper proposes a data-driven method for powered prosthesis control that achieves stable walking without the need for additional sensors on the human. The key idea is to extract the nominal gait and the human interaction information…
Background: Many attempts to validate gait pipelines that process sensor data to detect gait events have focused on the detection of initial contacts only in supervised settings using a single sensor. Objective: To evaluate the performance…
Passive monitoring in daily life may provide invaluable insights about a person's health throughout the day. Wearable sensor devices are likely to play a key role in enabling such monitoring in a non-obtrusive fashion. However, sensor data…
Environment awareness is crucial for enhancing walking safety and stability of amputee wearing powered prosthesis when crossing uneven terrains such as stairs and obstacles. However, existing environmental perception systems for prosthesis…