相关论文: A comparative study of human inverse kinematics te…

Human movement analysis is a key area of research in robotics, biomechanics, and data science. It encompasses tracking, posture estimation, and movement synthesis. While numerous methodologies have evolved over time, a systematic and…

Home-based physical therapies are effective if the prescribed exercises are correctly executed and patients adhere to these routines. This is specially important for older adults who can easily forget the guidelines from therapists.…

Markerless motion capture using computer vision and human pose estimation (HPE) has the potential to expand access to precise movement analysis. This could greatly benefit rehabilitation by enabling more accurate tracking of outcomes and…

Traditional motion planning approaches for multi-legged locomotion divide the problem into several stages, such as contact search and trajectory generation. However, reasoning about contacts and motions simultaneously is crucial for the…

In real life, many people have leg defects. the goal of our work is to design a mechanism which could help them walk based on a specific trajectory and realize flexible walking finally. In this paper, we use a motor to drive a multi-link…

Although ankle injuries resulting from postural instability are frequently observed during high-speed and intense physical activities, most current research has been limited to static or quasi-static models of the lower limb, or has focused…

Inverse kinematics is a fundamental technique for motion and positioning control in robotics, typically applied to end-effectors. In this paper, we extend the concept of inverse kinematics to guiding vector fields for path following in…

Lower limb amputations and neuromuscular impairments severely restrict mobility, necessitating advancements beyond conventional prosthetics. While motorized bionic limbs show promise, their effectiveness depends on replicating the dynamic…

Faced with complex and unstructured construction environments, wheeled and tracked robots exhibit significant limitations in terrain adaptability and flexibility, making it difficult to meet the requirements of autonomous operation.…

This article explores human-like movement from a fresh perspective on motion planning. We analyze the coordinated and compliant movement mechanisms of the human body from the perspective of biomechanics. Based on these mechanisms, we…

Modern robotics applications require an inverse kinematics (IK) solver that is fast, robust and consistent, and that provides all possible solutions. Currently, the Franka robot arm is the most widely used manipulator in robotics research.…

This paper describes the kinematics of the motion tracking of a rigid body using video recording. The novelty of the paper is on the adaptation of the methods and nomenclature used in Computer Vision to those used in Multibody System…

Preterm infants' limb-pose estimation is a crucial but challenging task, which may improve patients' care and facilitate clinicians in infant's movements monitoring. Work in the literature either provides approaches to whole-body…

Kinect skeleton tracker is able to achieve considerable human body tracking performance in convenient and a low-cost manner. However, The tracker often captures unnatural human poses such as discontinuous and vibrated motions when…

Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamicsbased…

In the era of the metaverse, self-avatars are gaining popularity, as they can enhance presence and provide embodiment when a user is immersed in Virtual Reality. They are also very important in collaborative Virtual Reality to improve…

Virtual models of human gait, or digital twins, offer a promising solution for studying mobility without the need for labor-intensive data collection. However, challenges such as the sim-to-real gap and limited adaptability to diverse…

Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…

The analysis of human motion as a clinical tool can bring many benefits such as the early detection of disease and the monitoring of recovery, so in turn helping people to lead independent lives. However, it is currently under used.…

Keypoint data has received a considerable amount of attention in machine learning for tasks like action detection and recognition. However, human experts in movement such as doctors, physiotherapists, sports scientists and coaches use a…