相关论文: The weak relationship between ankle proprioception…
To reproduce natural standing-up motion, recent studies have emphasized the importance of coordination between the assisting robot and the human. However, many non-wearable assistive devices have struggled to replicate natural motion…
Recalling previously experienced movements is essential for a range of activities, including sports, music, and rehabilitation, yet little is known about the accuracy and decay of proprioceptive working memory. We examined how introducing a…
Human Activity Recognition (HAR) is one of the fundamental building blocks of human assistive devices like orthoses and exoskeletons. There are different approaches to HAR depending on the application. Numerous studies have been focused on…
The applicability of Doppler radar for gait analysis is investigated by quantitatively comparing the measured biomechanical parameters to those obtained using motion capturing and ground reaction forces. Nineteen individuals walked on a…
Acuity assessments are vital in critical care settings to provide timely interventions and fair resource allocation. Traditional acuity scores rely on manual assessments and documentation of physiological states, which can be…
Drug-induced parkinsonism affects many older adults with dementia, often causing gait disturbances. New advances in vision-based human pose-estimation have opened possibilities for frequent and unobtrusive analysis of gait in residential…
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…
This paper extends the forced-oscillation-based reduced-order model of walking to a model with ankles and feet. A human-inspired paradigm was designed for the ankle dynamics, which results in improved gait characteristics compared to the…
Spasticity is a common movement disorder symptom in individuals with cerebral palsy, hereditary spastic paraplegia, spinal cord injury and stroke, being one of the most disabling features in the progression of these diseases. Despite the…
Passive and non-obtrusive health monitoring using wearables can potentially bring new insights into the user's health status throughout the day and may support clinical diagnosis and treatment. However, identifying segments of free-living…
Ergonomic assessment of human posture plays a vital role in understanding work-related safety and health. Current posture estimation approaches face occlusion challenges in teleoperation and physical human-robot interaction. We investigate…
State estimation for legged robots remains challenging because legged odometry generally suffers from limited observability and therefore depends critically on measurement constraints to suppress drift. When exteroceptive sensors are…
A continuous monitoring of the physical strength and mobility of elderly people is important for maintaining their health and treating diseases at an early stage. However, frequent screenings by physicians are exceeding the logistic…
Many epidemiological and clinical studies use accelerometry to objectively measure physical activity using the activity counts, vector magnitude, or number of steps. These measures use just a fraction of the information in the raw…
This study describes a method to quantify potential gait changes in human subjects. Microsoft Kinect devices were used to provide and track coordinates of fifteen different joints of a subject over time. Three male subjects walk a 10-foot…
Legged robots that can operate autonomously in remote and hazardous environments will greatly increase opportunities for exploration into under-explored areas. Exteroceptive perception is crucial for fast and energy-efficient locomotion:…
This paper presents a novel autonomous quality metric to quantify the rehabilitations progress of subjects with knee/hip operations. The presented method supports digital analysis of human gait patterns using smartphones. The algorithm…
Surgeons' technical skill directly impacts patient outcomes. To date, the angular motion of the instruments has been largely overlooked in objective skill evaluation. To fill this gap, we have developed metrics for surgical skill evaluation…
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…
This study focuses on the velocity patterns of various body parts during walking and proposes a method for evaluating gait symmetry. Traditional motion analysis studies have assessed gait symmetry based on differences in electromyographic…