相关论文: Estimating Lower Limb Kinematics using a Reduced W…
Human walking is a complex activity with a high level of cooperation and interaction between different systems in the body. Accurate detection of the phases of the gait in real-time is crucial to control lower-limb assistive devices like…
This paper introduces a novel proprioceptive state estimator for legged robots that combines model-based filters and deep neural networks. Recent studies have shown that neural networks such as multi-layer perceptron or recurrent neural…
The applicability of Doppler radar for gait analysis is investigated by quantitatively comparing the measured biomechanical parameters to those obtained using motion capturing and ground reaction forces. Nineteen individuals walked on a…
State estimation for legged robots is challenging due to their highly dynamic motion and limitations imposed by sensor accuracy. By integrating Kalman filtering, optimization, and learning-based modalities, we propose a hybrid solution that…
This paper presents a generic motion model to capture mobile robots' dynamic behaviors (translation and rotation). The model is based on statistical models driven by white random processes and is formulated into a full state estimation…
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…
This paper summarizes the recent progress we have made for the computer vision technologies in physical therapy with the accessible and affordable devices. We first introduce the remote health coaching system we build with Microsoft Kinect.…
Accurate estimation of the human circadian phase plays an important role in personalized health monitoring, but most existing wearable-based approaches operate retrospectively and require full circadian cycle recordings, leading to high…
Human Activity Recognition (HAR) is one of the fundamental building blocks of human assistive devices like orthoses and exoskeletons. There are different approaches to HAR depending on the application. Numerous studies have been focused on…
Balance, gait and postural control are some of the key factors in determining the overall stability of an individual. Several highend and costly solutions exist to perform movement analysis in clinical settings. OpenSim is a tool which uses…
Musculoskeletal modeling and simulations enable the accurate description and analysis of the movement of biological systems with applications such as rehabilitation assessment, prosthesis, and exoskeleton design. However, the widespread…
The present paper aims at providing the theoretical background required for investigating the use of the Microsoft Kinect$^{\rm TM}$ (`Kinect', for short) sensors (original and upgraded) in the analysis of human motion. Our methodology is…
This paper introduces an advanced Quaternion-based Unscented Kalman Filter (QUKF) for real-time, robust estimation of system states and external wrenches in assistive aerial payload transportation systems that engage in direct physical…
In this paper, we focus on sensor placement in linear dynamic estimation, where the objective is to place a small number of sensors in a system of interdependent states so to design an estimator with a desired estimation performance. In…
The ESVC(Ellipse-based Segmental Varying Curvature) foot, a robot foot design inspired by the rollover shape of the human foot, significantly enhances the energy efficiency of the robot walking gait. However, due to the tilt of the…
Positive biomechanical outcomes have been reported with lower-limb exoskeletons in laboratory settings, but these devices have difficulty delivering appropriate assistance in synchrony with human gait as the task or rate of phase…
Powered hip exoskeletons have shown the ability for locomotion assistance during treadmill walking. However, providing suitable assistance in real-world walking scenarios which involve changing terrain remains challenging. Recent research…
Motion estimation is a crucial component in multi-object tracking (MOT). It predicts the trajectory of objects by analyzing the changes in their positions in consecutive frames of images, reducing tracking failures and identity switches.…
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…
Accurate estimation and prediction of trajectory is essential for the capture of any high speed target. In this paper, an extended Kalman filter (EKF) is used to track the target in the first loop of the trajectory to collect data points…