相关论文: Environment-based Assistance Modulation for a Hip …
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
Vision plays a crucial role in comprehending the world around us. More than 85% of the external information is obtained through the vision system. It influences our mobility, cognition, information access, and interaction with the…
Dropped head syndrome, caused by neck muscle weakness from neurological diseases, severely impairs an individual's ability to support and move their head, causing pain and making everyday tasks challenging. Our long-term goal is to develop…
Visual assistive technologies, such as Microsoft Seeing AI, can improve access to environmental information for persons with blindness or low vision (pBLV). Yet, the physical and functional implications of different device embodiments…
We present a change-blindness based redirected walking algorithm that allows a user to explore on foot a virtual indoor environment consisting of an infinite number of rooms while at the same time ensuring collision-free walking for the…
Data-driven joint-moment predictors offer a scalable alternative to laboratory-based inverse-dynamics pipelines for biomechanics estimation and exoskeleton control. Meanwhile, physics-based reinforcement learning (RL) enables…
The prevalence of mobility impairments due to conditions such as spinal cord injuries, strokes, and degenerative diseases is on the rise globally. Lower-limb exoskeletons have been increasingly recognized as a viable solution for enhancing…
Lower limb exoskeletons show promise to assist human movement, but their utility is limited by controllers designed for discrete, predefined actions in controlled environments, restricting their real-world applicability. We present an…
Robust humanoid stair climbing remains challenging due to geometric discontinuities, sensitivity to step height variations, and perception uncertainty in real-world environments. Existing learning-based locomotion policies often rely on…
Humanoid robots are engineered to navigate terrains akin to those encountered by humans, which necessitates human-like locomotion and perceptual abilities. Currently, the most reliable controllers for humanoid motion rely exclusively on…
This paper presents a personalized gait optimization framework for lower-body exoskeletons. Rather than optimizing numerical objectives such as the mechanical cost of transport, our approach directly learns from user preferences, e.g., for…
Age-related mobility decline is frequently accompanied by a redistribution of joint kinetics, where older adults compensate for reduced ankle function by increasing demand on the hip. Paradoxically, this compensatory shift typically…
Computer-based assistants have recently attracted much interest due to its applicability to ambient assisted living. Such assistants have to detect and recognize the high-level activities and goals performed by the assisted human beings. In…
Gait asymmetry is a significant clinical characteristic of hemiplegic gait that most stroke survivors suffer, leading to limited mobility and long-term negative impacts on their quality of life. Although a variety of exoskeleton controls…
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.…
Hybrid systems, such as bipedal walkers, are challenging to control because of discontinuities in their nonlinear dynamics. Little can be predicted about the systems' evolution without modeling the guard conditions that govern transitions…
Blind and visually challenged face multiple issues with navigating the world independently. Some of these challenges include finding the shortest path to a destination and detecting obstacles from a distance. To tackle this issue, this…
In recent years, Transformer has achieved good results in Natural Language Processing (NLP) and has also started to expand into Computer Vision (CV). Excellent models such as the Vision Transformer and Swin Transformer have emerged. At the…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
Computer-vision (CV) has been used for environmental classification during gait and is often used to inform control in assistive systems; however, the ability to predict how the foot will contact a changing environment is underexplored. We…