相关论文: Evaluating Intelligent Algorithms for Gait Phase C…
For legged robots to operate in complex terrains, they must be robust to the disturbances and uncertainties they encounter. This paper contributes to enhancing robustness through the design of fall detection/prediction algorithms that will…
Gait recognition has emerged as a robust biometric modality due to its non-intrusive nature. Conventional gait recognition methods mainly rely on silhouettes or skeletons. While effective in controlled laboratory settings, their limited…
For full-size humanoid robots, even with recent advances in reinforcement learning-based control, achieving reliable locomotion on complex terrains, such as long staircases, remains challenging. In such settings, limited perception,…
Typical leg exoskeletons employ open-loop kinematic chains with motors placed directly on movable joints; while this design offers flexibility, it leads to increased costs and heightened control complexity due to the high number of degrees…
Legged locomotion is commonly studied and expressed as a discrete set of gait patterns, like walk, trot, gallop, which are usually treated as given and pre-programmed in legged robots for efficient locomotion at different speeds. However,…
Assistive robotic devices, like soft lower-limb exoskeletons or exosuits, are widely spreading with the promise of helping people in everyday life. To make such systems adaptive to the variety of users wearing them, it is desirable to endow…
Process modeling and understanding are fundamental for advanced human-computer interfaces and automation systems. Most recent research has focused on activity recognition, but little has been done on sensor-based detection of process…
The most concentrated application of lower-limb rehabilitation exoskeleton (LLE) robot is that it can help paraplegics "re-walk". However, "walking" in daily life is more than just walking on flat ground with fixed gait. This paper focuses…
Gait event detection of the initial contact and toe off is essential for running gait analysis, allowing the derivation of parameters such as stance time. Heuristic-based methods exist to estimate these key gait events from tibial…
This paper presents a biomechanically interpretable framework for gait analysis using 3D human reconstruction from video data. Unlike conventional keypoint based approaches, the proposed method extracts biomechanically meaningful markers…
This survey paper concerns Sensor Fusion for Predictive Control of Human-Prosthesis-Environment Dynamics in Assistive Walking. The powered lower limb prosthesis can imitate the human limb motion and help amputees to recover the walking…
Estimation of temporospatial clinical features of gait (CFs), such as step count and length, step duration, step frequency, gait speed, and distance traveled, is an important component of community-based mobility evaluation using wearable…
The study of biomechanics during locomotion provides valuable insights into the effects of varying conditions on specific movement patterns. This research focuses on examining the influence of different shoe parameters on walking…
This work presents algorithms for the feedback-stabilised walking of bipedal humanoid robotic platforms, along with the underlying theoretical and sensorimotor frameworks required to achieve it. Bipedal walking is inherently complex and…
Gait recognition is one of the most recent emerging techniques of human biometric which can be used for security based purposes having unobtrusive learning method. In comparison with other bio-metrics gait analysis has some special security…
To control the lower-limb exoskeleton robot effectively, it is essential to accurately recognize user status and environmental conditions. Previous studies have typically addressed these recognition challenges through independent models for…
Background: Many attempts to validate gait pipelines that process sensor data to detect gait events have focused on the detection of initial contacts only in supervised settings using a single sensor. Objective: To evaluate the performance…
Running is a widely practiced activity but shows a high incidence of knee injuries, especially Patellofemoral Pain Syndrome (PFPS) and Iliotibial Band Syndrome (ITBS). Identifying gait patterns linked to these injuries can improve clinical…
Timely and reliable detection of falls is a large and rapidly growing field of research due to the medical and financial demand of caring for a constantly growing elderly population. Within the past 2 decades, the availability of…
Robotics system for rehabilitation of movement disorders and motion assistance are gaining increased intention. In this scenario estimation of ground contact is an active area of research in robotics and healthcare. This article addresses…