相关论文: Learning a Shared Model for Motorized Prosthetic J…

This work addresses on the following problem: given a set of unsynchronized history observations of two scenes that are correlative on their dynamic changes, the purpose is to learn a cross-scene predictor, so that with the observation of…

Exoskeletons and orthoses are wearable mobile systems providing mechanical benefits to the users. Despite significant improvements in the last decades, the technology is not fully mature to be adopted for strenuous and non-programmed tasks.…

Powered prostheses are effective for helping amputees walk on level ground, but these devices are inconvenient to use in complex environments. Prostheses need to understand the motion intent of amputees to help them walk in complex…

Wearable collaborative robots stand to assist human wearers who need fall prevention assistance or wear exoskeletons. Such a robot needs to be able to constantly adapt to the surrounding scene based on egocentric vision, and predict the ego…

In this work, we propose a new solution to 3D human pose estimation in videos. Instead of directly regressing the 3D joint locations, we draw inspiration from the human skeleton anatomy and decompose the task into bone direction prediction…

Accurate detection of locomotion transitions, such as walk to sit, walk to stair ascent, and descent, is crucial to effectively control robotic assistive devices, such as lower-limb exoskeletons, as each locomotion mode requires specific…

Bolted joints are critical in engineering for maintaining structural integrity and reliability. Accurate prediction of parameters influencing their function and behavior is essential for optimal performance. Traditional methods often fail…

Estimating human poses from videos is critical in human-computer interaction. Joints cooperate rather than move independently during human movement. There are both spatial and temporal correlations between joints. Despite the positive…

Human walkers traverse diverse environments and demonstrate different gait locomotion and energy cost on granular terrains compared to solid ground. We present a stiffness-based model predictive control approach of knee exoskeleton…

Predicting diverse human motions given a sequence of historical poses has received increasing attention. Despite rapid progress, existing work captures the multi-modal nature of human motions primarily through likelihood-based sampling,…

Multi-person pose estimation and tracking serve as crucial steps for video understanding. Most state-of-the-art approaches rely on first estimating poses in each frame and only then implementing data association and refinement. Despite the…

Forecasting the future traffic flow distribution in an area is an important issue for traffic management in an intelligent transportation system. The key challenge of traffic prediction is to capture spatial and temporal relations between…

Modern robotic platforms need a reliable localization system to operate daily beside humans. Simple pose estimation algorithms based on filtered wheel and inertial odometry often fail in the presence of abrupt kinematic changes and wheel…

Everyday locomotion is a complex sensorimotor process that can unfold over multiple timescales, from long-term path planning to rapid, reactive adjustments. However, we lack an understanding of how factors such as environmental demands, or…

Accurate and rapid detection of gait phases is of utmost importance in achieving optimal performance of powered lower-limb prostheses and exoskeletons. With the increasing versatility and complexity of these robotic systems, there is a…

This paper proposes a framework that combines online human state estimation, action recognition and motion prediction to enable early assessment and prevention of worker biomechanical risk during lifting tasks. The framework leverages the…

Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…

This paper describes a technique for using magnetic motion capture data to determine the joint parameters of an articulated hierarchy. This technique makes it possible to determine limb lengths, joint locations, and sensor placement for a…

Joint injuries, and their long-term consequences, present a substantial global health burden. Wearable prophylactic braces are an attractive potential solution to reduce the incidence of joint injuries by limiting joint movements that are…

Estimating human pose, classifying actions, and predicting movement progress are essential for human-robot interaction. While vision-based methods suffer from occlusion and privacy concerns in realistic environments, tactile sensing avoids…