相关论文: Tracking the whole-body centre of mass while seate…
Despite researchers having extensively studied various ways to track body pose on-the-go, most prior work does not take into account wheelchair users, leading to poor tracking performance. Wheelchair users could greatly benefit from this…
Accurate estimation of the whole-body center of mass (CoM) is essential for assessing human stability and postural control. However, selecting the most accurate estimation method is challenging due to the complexity of human movement,…
Lifting objects, whose mass may produce high wrist torques that exceed the hardware strength limits, could lead to unstable grasps or serious robot damage. This work introduces a new Center-of-Mass (CoM)-based grasp pose adaptation method,…
Despite decades of study, many unknowns exist about the mechanisms governing human locomotion. Current models and motor control theories can only partially capture the phenomenon. This may be a major cause of the reduced efficacy of lower…
Prolonged seated activity is increasingly common in modern environments, raising concerns around musculoskeletal health, ergonomics, and the design of responsive interactive systems. Existing posture sensing methods such as vision-based or…
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…
In the 34 developed and 156 developing countries, there are about 132 million disabled people who need a wheelchair constituting 1.86% of the world population. Moreover, there are millions of people suffering from diseases related to motor…
Balance is the fundamental skill behind human locomotion, and its impairment is the principal indicator of self-perceived disability. Despite significant improvements in balance assessment, there is still large incidence of fall related…
IMUs are regularly used to sense human motion, recognize activities, and estimate full-body pose. Users are typically required to place sensors in predefined locations that are often dictated by common wearable form factors and the machine…
Accurate whole-body multi-person pose estimation and tracking is an important yet challenging topic in computer vision. To capture the subtle actions of humans for complex behavior analysis, whole-body pose estimation including the face,…
Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model-based whole-body kinematics estimation algorithm using…
Replicating a user's pose from only wearable sensors is important for many AR/VR applications. Most existing methods for motion tracking avoid environment interaction apart from foot-floor contact due to their complex dynamics and hard…
Balance assessment during physical rehabilitation often relies on rubric-oriented battery tests to score a patient's physical capabilities, leading to subjectivity. While some objective balance assessments exist, they are often limited to…
Estimation of the centre of pressure (COP) is an important part of the gait analysis, for example, when evaluating the functional capacity of individuals affected by motor impairment. Inertial measurement units (IMUs) and force sensors are…
This paper presents the design and development of a robotic system to give physical assistance to the elderly or people with neurological disorders such as Ataxia or Parkinson's. In particular, we propose using a mobile collaborative robot…
Dressing is a fundamental task of everyday living and robots offer an opportunity to assist people with motor impairments. While several robotic systems have explored robot-assisted dressing, few have considered how a robot can manage…
Learning to operate a vehicle is generally accomplished by forming a new cognitive map between the body motions and extrapersonal space. Here, we consider the challenge of remapping movement-to-space representations in survivors of spinal…
This paper proposes a novel contact and wearable sensing system for estimating the upper body posture and joint angles (ankle, knee, and hip) of the human body using foot pressure distribution information obtained from a sensor attached to…
This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…
Today's Mixed Reality head-mounted displays track the user's head pose in world space as well as the user's hands for interaction in both Augmented Reality and Virtual Reality scenarios. While this is adequate to support user input, it…