相关论文: Learning a Control Policy for Fall Prevention on a…
Older people are susceptible to fall due to instability in posture and deteriorating health. Immediate access to medical support can greatly reduce repercussions. Hence, there is an increasing interest in automated fall detection, often…
In this paper, an approach for gait assistance with a lower body exoskeleton is described. Two concepts, transparency and motion assistance, are combined. The transparent mode, where the system is following the user's free motion with a…
In this work, we present a novel framework for on-line human gait stability prediction of the elderly users of an intelligent robotic rollator using Long Short Term Memory (LSTM) networks, fusing multimodal RGB-D and Laser Range Finder…
Developing exoskeleton controllers that generalize across diverse locomotor conditions typically requires extensive motion-capture data and biomechanical labeling, limiting scalability beyond instrumented laboratory settings. Here, we…
Exoskeletons have been shown to effectively assist humans during steady locomotion. However, their effects on non-steady locomotion, characterized by nonlinear phase progression within a gait cycle, remain insufficiently explored,…
Falling continues to be a significant risk factor for older adults and other mobility limited individuals. Monitoring and maintaining clear, tripping hazard free pathways in living spaces is invaluable in helping people live independently…
Many people suffer from the loss of a limb. Learning to get by without an arm or hand can be very challenging, and existing prostheses do not yet fulfil the needs of individuals with amputations. One promising solution is to provide greater…
The coupling of human movement dynamics with the function and design of wearable assistive devices is vital to better understand the interaction between the two. Advanced neuromuscular models and optimal control formulations provide the…
Falls are a major cause of injuries and deaths among older adults worldwide. Accurate fall detection can help reduce potential injuries and additional health complications. Different types of video modalities can be used in a home setting…
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…
This study investigates fall risk prediction in older adults using various machine learning models trained on accelerometric, non-accelerometric, and combined data from 146 participants. Models combining both data types achieved superior…
Fall detection for the elderly is a well-researched problem with several proposed solutions, including wearable and non-wearable techniques. While the existing techniques have excellent detection rates, their adoption by the target…
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…
Foot drop is commonly managed using Functional Electrical Stimulation (FES), typically delivered via open-loop controllers with fixed stimulation intensities. While users may manually adjust the intensity through external controls, this…
Unintentional falls can cause severe injuries and even death, especially if no immediate assistance is given. The aim of Fall Detection Systems (FDSs) is to detect an occurring fall. This information can be used to trigger the necessary…
This paper presents an innovative approach to address the pressing concern of fall incidents among the elderly by developing an accurate fall detection system. Our proposed system combines state-of-the-art technologies, including…
Using lower-limbs exoskeletons provides potential advantages in terms of productivity and safety associated with reduced stress. However, complex issues in human-robot interaction are still open, such as the physiological effects of…
We propose in this paper Periodic Interaction Primitives - a probabilistic framework that can be used to learn compact models of periodic behavior. Our approach extends existing formulations of Interaction Primitives to periodic movement…
In this paper, a hierarchical and robust framework for learning bipedal locomotion is presented and successfully implemented on the 3D biped robot Digit built by Agility Robotics. We propose a cascade-structure controller that combines the…
This paper presents the design and development of a robotic system to give physical assistance to the elderly or people with neurological disorders such as Ataxia or Parkinson's. In particular, we propose using a mobile collaborative robot…