相关论文: Estimating Ground Reaction Forces from Inertial Se…

Legged robots have demonstrated high efficiency and effectiveness in unstructured and dynamic environments. However, it is still challenging for legged robots to achieve rapid and efficient locomotion on deformable, yielding substrates,…

Inertial measurement units are commonly used to estimate the attitude of moving objects. Numerous nonlinear filter approaches have been proposed for solving the inherent sensor fusion problem. However, when a large range of different…

This paper addresses the inference of spatial dependence in the context of a recently proposed framework. More specifically, the paper focuses on the estimation of model parameters for a class of generalized Gibbs random fields, i.e.,…

Among the biggest challenges we face in utilizing neural networks trained on waveform data (i.e., seismic, electromagnetic, or ultrasound) is its application to real data. The requirement for accurate labels forces us to develop solutions…

Goal: This paper presents an algorithm for estimating pelvis, thigh, shank, and foot kinematics during walking using only two or three wearable inertial sensors. Methods: The algorithm makes novel use of a Lie-group-based extended Kalman…

Inertial information processing plays a pivotal role in ego-motion awareness for mobile agents, as inertial measurements are entirely egocentric and not environment dependent. However, they are affected greatly by changes in sensor…

Purpose: Visually Guided Reaching (VGR) on the Kinarm robot yields sensitive kinematic biomarkers but requires 40-64 reaches, imposing time and fatigue burdens. We evaluate whether time-series foundation models can replace unrecorded trials…

Spatial prediction is commonly achieved under the assumption of a Gaussian random field (GRF) by obtaining maximum likelihood estimates of parameters, and then using the kriging equations to arrive at predicted values. For massive datasets,…

In this paper we propose a novel accurate method for dead-reckoning of wheeled vehicles based only on an Inertial Measurement Unit (IMU). In the context of intelligent vehicles, robust and accurate dead-reckoning based on the IMU may prove…

Gestures are an integral part of our daily interactions with the environment. Hand gesture recognition (HGR) is the process of interpreting human intent through various input modalities, such as visual data (images and videos) and…

Visual Inertial Odometry (VIO) is one of the most established state estimation methods for mobile platforms. However, when visual tracking fails, VIO algorithms quickly diverge due to rapid error accumulation during inertial data…

Aligning human preference and value is an important requirement for contemporary foundation models. State-of-the-art techniques such as Reinforcement Learning from Human Feedback (RLHF) often consist of two stages: 1) supervised fine-tuning…

An inertial navigation system (INS) utilizes three orthogonal accelerometers and gyroscopes to determine platform position, velocity, and orientation. There are countless applications for INS, including robotics, autonomous platforms, and…

This work demonstrates an airflow inertial based odometry system with multi-sensor data fusion, including thermal anemometer, IMU, ESC, and barometer. This goal is challenging because low-cost IMUs and barometers have significant bias, and…

Body dynamics are crucial information for the analysis of human motions in important research fields, ranging from biomechanics, sports science to computer vision and graphics. Modern approaches collect the body dynamics, external reactive…

Inertial measurement units (IMUs) are fundamental sensing components in multi-source integrated navigation systems, and their performance directly determines the accuracy and reliability of solutions. However, the precision of low-cost IMUs…

Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained…

Gait phase estimation based on inertial measurement unit (IMU) signals facilitates precise adaptation of exoskeletons to individual gait variations. However, challenges remain in achieving high accuracy and robustness, particularly during…

With the increasing penetration of converter-based renewable resources, different types of dynamics have been introduced to the power system. Due to the complexity and high order of the modern power system, mathematical model-based inertia…

Gait rehabilitation interventions targeting paretic propulsion can improve walking speed and function in individuals post-stroke. Previous work has demonstrated that real-time biofeedback targeting anterior ground reaction forces (AGRFs)…