相关论文: Biomechanical Comparison of Human Walking Locomoti…
Human walking is a complex activity with a high level of cooperation and interaction between different systems in the body. Accurate detection of the phases of the gait in real-time is crucial to control lower-limb assistive devices like…
The kinematics of human movements and locomotion are closely linked to the activation and contractions of muscles. To investigate this, we present a multimodal dataset with benchmarks collected using a novel pair of Intelligent Knee Sleeves…
Gait is an important biomarker of functional conditions and gait characteristics can help us assessing health conditions and managing progression of diseases. Most of the existing research study the gait in controlled condition, such as…
A multiscale model for real-time simulation of terrain dynamics is explored. To represent the dynamics on different scales the model combines the description of soil as a continuous solid, as distinct particles and as rigid multibodies. The…
This paper describes a method to convert Microsoft Kinect coordinates into gait parameters in order to detect a person's gait change. The proposed method can help quantify the progress of physical therapy. Microsoft Kinect, a popular…
Injuries to the lower extremity joints are often debilitating, particularly for professional athletes. Understanding the onset of stressful conditions on these joints is therefore important in order to ensure prevention of injuries as well…
In human locomotion, sensorimotor synchronization of gait consists of the coordination of stepping with rhythmic auditory cues (auditory cueing, AC). AC changes the long-range correlations among consecutive strides (fractal dynamics) into…
Motion disorders pose a significant global health concern and are often managed with pharmacological treatments that may lead to undesirable long-term effects. Current therapeutic strategies lack differentiation between healthy 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…
Gait encodes rich biometric and behavioural information, yet leveraging the manner of walking to infer psychological traits remains a challenging and underexplored problem. We introduce a hierarchical Multi-Stage Mixture of Movement Experts…
The capability of effectively moving on complex terrains such as sand and gravel can empower our robots to robustly operate in outdoor environments, and assist with critical tasks such as environment monitoring, search-and-rescue, and…
In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem, real-world demonstrations have been limited to relatively…
Previous research has shown that the effective use of inertial motion (i.e., less or no torque input at the knee joint) plays an important role in achieving a smooth gait of transfemoral prostheses in the swing phase. In our previous…
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…
Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animals developed multi-segment legs, mechanical coupling between…
We propose a dataset to study the influence of object-specific characteristics on human pick-and-place movements and compare the quality of the motion kinematics extracted by various sensors. This dataset is also suitable for promoting a…
Human gait can be a predictive factor for detecting pathologies that affect human locomotion according to studies. In addition, it is known that a high investment is demanded in order to raise a traditional clinical infrastructure able to…
The recent availability of digital traces generated by phone calls and online logins has significantly increased the scientific understanding of human mobility. Until now, however, limited data resolution and coverage have hindered a…
Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might be energetically inefficient and potentially dangerous to the…
In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…