相关论文: Estimating Lower Limb Kinematics using a Reduced W…

This work studies the state estimation problem of a stochastic nonlinear system with unknown sensor measurement losses. If the estimator knows the sensor measurement losses of a linear Gaussian system, the minimum variance estimate is…

Accurate classification of lower limb movements using surface electromyography (sEMG) signals plays a crucial role in assistive robotics and rehabilitation systems. In this study, we present a lightweight attention-based deep neural network…

In this paper, a simultaneous localization and mapping (SLAM) algorithm for tracking the motion of a pedestrian with a foot-mounted inertial measurement unit (IMU) is proposed. The algorithm uses two maps, namely, a motion map and a…

This paper presents a novel filter with low computational demand to address the problem of orientation estimation of a robotic platform. This is conventionally addressed by extended Kalman filtering of measurements from a sensor suit which…

Wearable sensor-based human gait analysis holds great promise in healthcare, rehabilitation, clinical diagnosis and monitoring, and sports activities. Specifically, ground reaction force (GRF) provides essential insights into the body's…

In this paper, we develop an integrated markerless gait tracking system with three Kinect v2 sensors. A geometric principle-based trilateration method is proposed for optimizing the accuracy of the measured gait data. To tackle the data…

The estimation of spatiotemporal data from limited sensor measurements is a required task across many scientific disciplines. The sensor selection problem, which aims to optimize the placement of sensors, leverages innovations in greedy…

This study evaluates the agreement of marker-based and markerless (OpenCap) motion capture systems in assessing joint kinematics and kinetics during cycling. Markerless systems, such as OpenCap, offer the advantage of capturing natural…

In this paper we address the simultaneous collision detection and force estimation problem for quadrupedal locomotion using joint encoder information and the robot dynamics only. We design an interacting multiple-model Kalman filter…

Lower limb exoskeletons and prostheses require precise, real time gait phase and step detections to ensure synchronized motion and user safety. Conventional methods often rely on complex force sensing hardware that introduces control…

Knee injuries are frequent, varied and often require the patient to undergo intensive rehabilitation for several months. Treatment protocols usually contemplate some recurrent measurements in order to assess progress, such as goniometry.…

This paper presents a biomechanically interpretable framework for gait analysis using 3D human reconstruction from video data. Unlike conventional keypoint based approaches, the proposed method extracts biomechanically meaningful markers…

A sensor-fused wearable assistance prototype for upper-limb function (triceps brachii and extensor pollicis brevis) is presented. The device integrates surface electromyography (sEMG), an inertial measurement unit (IMU), and flex/force…

This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the…

Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…

With the increasing awareness of high-quality life, there is a growing need for health monitoring devices running robust algorithms in home environment. Health monitoring technologies enable real-time analysis of users' health status,…

The Kalman filter (KF) is a widely-used algorithm for tracking dynamic systems that are captured by state space (SS) models. The need to fully describe a SS model limits its applicability under complex settings, e.g., when tracking based on…

Hip joint moments during walking are the key foundation for hip exoskeleton assistance control. Most recent studies have shown estimating hip joint moments instantaneously offers a lot of advantages compared to generating assistive torque…

Traction parameters, that characterize the ground-wheel contact dynamics, are the central factor in the energy efficiency of vehicles. To optimize fuel consumption, reduce wear of tires, increase productivity etc., knowledge of current…

Accurate 3D kinematics estimation of human body is crucial in various applications for human health and mobility, such as rehabilitation, injury prevention, and diagnosis, as it helps to understand the biomechanical loading experienced…