相关论文: MLP Based Continuous Gait Recognition of a Powered…

Assistive devices, such as exoskeletons and prostheses, have revolutionized the field of rehabilitation and mobility assistance. Efficiently detecting transitions between different activities, such as walking, stair ascending and…

This work explores an innovative algorithm designed to enhance the mobility of underactuated bipedal robots across challenging terrains, especially when navigating through spaces with constrained opportunities for foot support, like steps…

This paper focuses on the analysis of human gait cycle dynamics and presents a mathematical model to determine the torque exerted on the lower limb joints throughout the complete gait cycle, including its various phases. The study involved…

This paper evaluates the capabilities of a soft robotic pneumatic actuator derived from the terrain display haptic device, "The Smart Shoe." The bladder design of the Smart Shoe is upgraded to include a pressure supply and greater output…

Accurate lower-limb joint kinematic estimation is critical for applications such as patient monitoring, rehabilitation, and exoskeleton control. While previous studies have employed wearable sensor-based deep learning (DL) models for…

In this paper we presented mmPose-NLP, a novel Natural Language Processing (NLP) inspired Sequence-to-Sequence (Seq2Seq) skeletal key-point estimator using millimeter-wave (mmWave) radar data. To the best of the author's knowledge, this is…

Parkinson's Disease (PD) is a chronic and progressive neurological disorder that results in rigidity, tremors and postural instability. There is no definite medical test to diagnose PD and diagnosis is mostly a clinical exercise. Although…

Robotic assistance presents an opportunity to benefit the lives of many people with physical disabilities, yet accurately sensing the human body and tracking human motion remain difficult for robots. We present a multidimensional capacitive…

Recent work has shown that exoskeletons controlled through data-driven methods can dynamically adapt assistance to various tasks for healthy young adults. However, applying these methods to populations with neuromotor gait deficits, such as…

Gait recognition is a significant biometric technique for person identification, particularly in scenarios where other physiological biometrics are impractical or ineffective. In this paper, we address the challenges associated with gait…

Falls during daily ambulation activities are a leading cause of injury in older adults due to delayed physiological responses to disturbances of balance. Lower-limb exoskeletons have the potential to mitigate fall incidents by detecting and…

We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…

Although the application of Series elastic actuators (SEAs) in the biomechatronic field has proved its appropriation in many aspects so far, the problems of maintaining the stability for the SEAs still remains. This paper proposes a robust…

Ankle proprioceptive deficits are common after stroke and occur independently of ankle motor impairments. Despite this independence, some studies have found that ankle proprioceptive deficits predict gait function, consistent with the…

When we develop wearable assistive devices comfort and support are two main issues needed to be considered. In conventional design approaches, the degree of freedom of wearer's joint movement tends to be oversimplified. Accordingly, the…

Current upper limb prostheses aim to enhance user independence in daily activities by incorporating basic motor functions. However, they fall short of replicating the natural movement and interaction capabilities of the human arm. In…

Multi-path sensing, which aims to extract the geometric attributes of multiple propagation paths, is expected to be a key functionality of 6G. A movable antenna (MA) can enable this functionality by creating a synthetic aperture through…

Robotic adaptation to unanticipated operating conditions is crucial to achieving persistence and robustness in complex real world settings. For a wide range of cutting-edge robotic systems, such as micro- and nano-scale robots, soft robots,…

Despite advances in upper-limb (UL) prosthetic design, achieving intuitive control of intermediate joints - such as the wrist and elbow - remains challenging, particularly for continuous and velocity-modulated movements. We introduce a…

For humans, fast, efficient walking over flat ground represents the vast majority of locomotion that an individual experiences on a daily basis, and for an effective, real-world humanoid robot the same will likely be the case. In this work,…