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Frailty is a geriatric syndrome associated with the lack of physiological reserve and consequent adverse outcomes (therapy complications and death) in older adults. Recent research has shown associations between heart rate (HR) dynamics (HR…

In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has…

In this paper, we tackle the problem of scene-aware 3D human motion forecasting. A key challenge of this task is to predict future human motions that are consistent with the scene by modeling the human-scene interactions. While recent works…

Adaptive falling and recovery skills greatly extend the applicability of robot deployments. In the case of legged mobile manipulators, the robot arm could adaptively stop the fall and assist the recovery. Prior works on falling and recovery…

This study aimed to explore the application of deep neural networks for whole-body human posture prediction during dynamic load-reaching activities. Two time-series models were trained using bidirectional long short-term memory (BLSTM) and…

This study presents ME-WARD (Multimodal Ergonomic Workplace Assessment and Risk from Data), a novel system for ergonomic assessment and musculoskeletal risk evaluation that implements the Rapid Upper Limb Assessment (RULA) method. ME-WARD…

This study proposes an accurate method to estimate human body orientation using a millimeter-wave radar system. Body displacement is measured from the phase of the radar echo, which is analyzed to obtain features associated with the…

Previous learning based hand pose estimation methods does not fully exploit the prior information in hand model geometry. Instead, they usually rely a separate model fitting step to generate valid hand poses. Such a post processing is…

Broader access to high-quality movement analysis could greatly benefit movement science and rehabilitation, such as allowing more detailed characterization of movement impairments and responses to interventions, or even enabling early…

Small obstacles on the ground often lead to a fall when caught with commercial prosthetic feet. Despite some recently developed feet can actively control the ankle angle, for instance over slopes, their flat and rigid sole remains a cause…

Hip fractures are a major cause of disability, mortality, and healthcare burden in older adults, underscoring the need for early risk assessment. However, commonly used tools such as the DXA T-score and FRAX often lack sensitivity and miss…

Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel object and their configurations. Developmental psychology…

In this paper, we present a novel kinematic model of the human phalanges based on the elliptical motion of their joints. The presence of the soft elastic tissues and the general anatomical structure of the hand joints highly affect the…

Model-based methods in reinforcement learning offer a promising approach to enhance data efficiency by facilitating policy exploration within a dynamics model. However, accurately predicting sequential steps in the dynamics model remains a…

IMUs are regularly used to sense human motion, recognize activities, and estimate full-body pose. Users are typically required to place sensors in predefined locations that are often dictated by common wearable form factors and the machine…

Repeated exposure to blast overpressure in occupational settings has been associated with changes in cognitive and psychological health, as well as deficits in neurosensory subsystems. In this work, we describe a wearable system to…

This paper introduces a Multi-modal Diffusion model for Motion Prediction (MDMP) that integrates and synchronizes skeletal data and textual descriptions of actions to generate refined long-term motion predictions with quantifiable…

Human beings face threats because of unexpected happenings, which can be avoided through an adequate crisis evacuation plan, which is vital to stop wound and demise as its negative results. Consequently, different typical evacuation…

Incorporating physics in human motion capture to avoid artifacts like floating, foot sliding, and ground penetration is a promising direction. Existing solutions always adopt kinematic results as reference motions, and the physics is…

We present GazeMotion, a novel method for human motion forecasting that combines information on past human poses with human eye gaze. Inspired by evidence from behavioural sciences showing that human eye and body movements are closely…