相关论文: Biomechanical Comparison of Human Walking Locomoti…

Robots "in-the-wild" encounter and must traverse widely varying terrain, ranging from solid ground to granular materials like sand to full liquids. Numerous approaches exist, including wheeled and legged robots, each excelling in specific…

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…

Small obstacles on the ground often lead to a fall when caught with commercial prosthetic feet. Despite some recently developed feet can actively control the ankle angle, for instance over slopes, their flat and rigid sole remains a cause…

This research aims to quantify human walking patterns through depth cameras to (1) detect walking pattern changes of a person with and without a motion-restricting device or a walking aid, and to (2) identify distinct walking patterns from…

Robust and energy-efficient bipedal locomotion in robotics is still a challenging topic. In order to address issues in this field, we can take inspiration from nature, by studying human locomotion. The Spring-Loaded Inverted Pendulum (SLIP)…

Human locomotion emerges from high-dimensional neuromuscular control, making predictive musculoskeletal simulation challenging. We present a physiology-informed reinforcement-learning framework that constrains control using muscle…

Recognizing and identifying human locomotion is a critical step to ensuring fluent control of wearable robots, such as transtibial prostheses. In particular, classifying the intended locomotion mode and estimating the gait phase are key. In…

Learning a locomotion controller for a musculoskeletal system is challenging due to over-actuation and high-dimensional action space. While many reinforcement learning methods attempt to address this issue, they often struggle to learn…

This paper proposes a data-driven method for powered prosthesis control that achieves stable walking without the need for additional sensors on the human. The key idea is to extract the nominal gait and the human interaction information…

This paper proposes a novel contact and wearable sensing system for estimating the upper body posture and joint angles (ankle, knee, and hip) of the human body using foot pressure distribution information obtained from a sensor attached to…

In future, robots will be present in everyday life. The development of these supporting robots is a challenge. A fundamental task for assistance robots is to pick up and hand over objects to humans. By interacting with users, soft factors…

We investigate via extensive experimental data the dynamics of pedestrians walking in a corridor-shaped landing in a building at Eindhoven University of Technology. With year-long automatic measurements employing a Microsoft KinectTM…

Human physical motion activity identification has many potential applications in various fields, such as medical diagnosis, military sensing, sports analysis, and human-computer security interaction. With the recent advances in smartphones…

Successfully achieving bipedal locomotion remains challenging due to real-world factors such as model uncertainty, random disturbances, and imperfect state estimation. In this work, we propose a novel metric for locomotive robustness -- the…

Most existing locomotion devices that represent the sensation of walking target a user who is actually performing a walking motion. Here, we attempted to represent the walking sensation, especially a kinesthetic sensation and advancing…

Humanoid robots have achieved significant progress in motion generation and control, exhibiting movements that appear increasingly natural and human-like. Inspired by the Turing Test, we propose the Motion Turing Test, a framework that…

Legged robots face significant challenges in moving and navigating on deformable and highly yielding terrain such as mud. We present a resistive force model for legged foot-mud interactions. The model captures rheological behaviors such as…

In this paper, we present a novel kinematic model of the human phalanges based on the elliptical motion of their joints. The presence of the soft elastic tissues and the general anatomical structure of the hand joints highly affect the…

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,…

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…