相关论文: Human Gait State Prediction Using Cellular Automat…
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…
Get-Up-and-Go Test is commonly used for assessing the physical mobility of the elderly by physicians. This paper presents a method for automatic analysis and classification of human gait in the Get-Up-and-Go Test using a Microsoft Kinect…
Machine learning (ML) models have proven effective in classifying gait analysis data, e.g., binary classification of young vs. older adults. ML models, however, lack in providing human understandable explanations for their predictions. This…
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…
In the control of lower-limb exoskeletons with feet, the phase in the gait cycle can be identified by monitoring the weight distribution at the feet. This phase information can be used in the exoskeleton's controller to compensate the…
Freezing of gait is a Parkinson's Disease symptom that episodically inflicts a patient with the inability to step or turn while walking. While medical experts have discovered various triggers and alleviating actions for freezing of gait,…
Different technologies can acquire data for gait analysis, such as optical systems and inertial measurement units (IMUs). Each technology has its drawbacks and advantages, fitting best to particular applications. The presented multi-sensor…
This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…
Lower limbs exoskeletons provide assistance during standing, squatting, and walking. Gait dynamics, in particular, implies a change in the configuration of the device in terms of contact points, actuation, and system dynamics in general. In…
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…
A cellular automaton model is presented for random walkers with biologically motivated interactions favoring local alignment and leading to collective motion or swarming behavior. The degree of alignment is controlled by a sensitivity…
The biomechanics of the human body allow humans a range of possible ways of executing movements to attain specific goals. This range of movement is limited by a number of mechanical, biomechanical, or cognitive constraints. Shifts in these…
The biomechanics of the human body gives subjects a high degree of freedom in how they can execute movement. Nevertheless, subjects exhibit regularity in their movement patterns. One way to account for this regularity is to suppose that…
We present ProxEmo, a novel end-to-end emotion prediction algorithm for socially aware robot navigation among pedestrians. Our approach predicts the perceived emotions of a pedestrian from walking gaits, which is then used for…
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…
Gait encodes rich biometric and behavioural information, yet leveraging the manner of walking to infer psychological traits remains a challenging and underexplored problem. We introduce a hierarchical Multi-Stage Mixture of Movement Experts…
Robotics system for rehabilitation of movement disorders and motion assistance are gaining increased intention. In this scenario estimation of ground contact is an active area of research in robotics and healthcare. This article addresses…
Crowd simulation is used for evacuation and crowd safety inspections, study of performance in crowd systems and animations. Cellular automata has been extensively used in modelling the crowd. In regular cellular automata models, each…
In this work, we demonstrate robust walking in the bipedal robot Digit on uneven terrains by just learning a single linear policy. In particular, we propose a new control pipeline, wherein the high-level trajectory modulator shapes the…
The human gait is a complex interplay between the neuronal and the muscular systems, reflecting an individual's neurological and physiological condition. This makes gait analysis a valuable tool for biomechanics and medical experts.…