相关论文: VR-based body tracking to stimulate musculoskeleta…

Partial-assistance exoskeletons hold significant potential for gait rehabilitation by promoting active participation during (re)learning of normative walking patterns. Typically, the control of interaction torques in partial-assistance…

Critical VR applications in domains such as healthcare, education, and finance that use traditional credentials, such as PIN, password, or multi-factor authentication, stand the chance of being compromised if a malicious person acquires the…

Virtual reality (VR) is not a new technology but has been in development for decades, driven by advances in computer technology. Currently, VR technology is increasingly being used in applications to enable immersive, yet controlled…

With the mounting global interest for optical see-through head-mounted displays (OST-HMDs) across medical, industrial and entertainment settings, many systems with different capabilities are rapidly entering the market. Despite such…

The tendon-driven musculoskeletal humanoid has many benefits that human beings have, but the modeling of its complex muscle and bone structures is difficult and conventional model-based controls cannot realize intended movements. Therefore,…

Exercise-based rehabilitation programs have been shown to enhance quality of life and reduce mortality and rehospitalizations. AI-driven virtual rehabilitation programs enable patients to complete exercises independently at home while AI…

The accurate visual tracking of a moving object is a human fundamental skill that allows to reduce the relative slip and instability of the object's image on the retina, thus granting a stable, high-quality vision. In order to optimize…

Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…

Falling continues to be a significant risk factor for older adults and other mobility limited individuals. Monitoring and maintaining clear, tripping hazard free pathways in living spaces is invaluable in helping people live independently…

This paper presents a VR-based guide dog training system designed to assist novice trainers in understanding guide dog behavior and issuing appropriate training commands. Guide dogs play a vital role in supporting independent mobility for…

Virtual Reality (VR) is increasingly used for training and demonstration purposes including a variety of applications ranging from robot learning to rehabilitation. However, the choice of input device and its visualization might influence…

Whole-body humanoid locomotion is challenging due to high-dimensional control, morphological instability, and the need for real-time adaptation to various terrains using onboard perception. Directly applying reinforcement learning (RL) with…

Despite the rise of billion-parameter foundation models trained across thousands of GPUs, similar scaling gains have not been shown for humanoid control. Current neural controllers for humanoids remain modest in size, target a limited set…

Real-time tracking of human body motion is crucial for interactive and immersive experiences in AR/VR. However, very limited sensor data about the body is available from standalone wearable devices such as HMDs (Head Mounted Devices) or AR…

Sprinting is a determinant ability, especially in team sports. The kinematics of the sprint have been studied in the past using different methods specially developed considering human biomechanics and, among those methods, markerless…

Developing exoskeleton controllers that generalize across diverse locomotor conditions typically requires extensive motion-capture data and biomechanical labeling, limiting scalability beyond instrumented laboratory settings. Here, we…

A significant challenge for the control of a robotic lower extremity rehabilitation exoskeleton is to ensure stability and robustness during programmed tasks or motions, which is crucial for the safety of the mobility-impaired user. Due to…

As life expectancy is mostly increasing, the incidence of many neurological disorders is also constantly growing. For improving the physical functions affected by a neurological disorder, rehabilitation procedures are mandatory, and they…

While automatic monitoring and coaching of exercises are showing encouraging results in non-medical applications, they still have limitations such as errors and limited use contexts. To allow the development and assessment of physical…

Hand exoskeletons are critical tools for dexterous teleoperation and immersive manipulation interfaces, but achieving accurate hand tracking remains a challenge due to user-specific anatomical variability and donning inconsistencies. These…