相关论文: Exosense: A Vision-Based Scene Understanding Syste…
In this paper, we study a problem of egocentric scene understanding, i.e., predicting depths and surface normals from an egocentric image. Egocentric scene understanding poses unprecedented challenges: (1) due to large head movements, the…
We present a personal mobility device for lower-body impaired users through a light-weighted exoskeleton on wheels. On its core, a novel passive exoskeleton provides postural transition leveraging natural body postures with support to the…
We tackle the problem of Human Locomotion Forecasting, a task for jointly predicting the spatial positions of several keypoints on the human body in the near future under an egocentric setting. In contrast to the previous work that aims to…
In this study, we present a feedforward control system designed for active gravity compensation on an upper body exoskeleton. The system utilizes only positional data from internal motor sensors to calculate torque, employing analytical…
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,…
A typical application of upper-limb exoskeleton robots is deployment in rehabilitation training, helping patients to regain manipulative abilities. However, as the patient is not always capable of following the robot, safety issues may…
Dynamic bipedal walking on discrete terrain, like stepping stones, is a challenging problem requiring feedback controllers to enforce safety-critical constraints. To enforce such constraints in real-world experiments, fast and accurate…
Humanoid robots are engineered to navigate terrains akin to those encountered by humans, which necessitates human-like locomotion and perceptual abilities. Currently, the most reliable controllers for humanoid motion rely exclusively on…
Humans possess the cognitive ability to comprehend scenes in a compositional manner. To empower AI systems with similar capabilities, object-centric learning aims to acquire representations of individual objects from visual scenes without…
Exoskeletons for rehabilitation can help enhance motor recovery in individuals suffering from neurological disorders. Precision in movement execution, especially in arm rehabilitation, is crucial to prevent maladaptive plasticity. However,…
Accurate estimation of three-dimensional human skeletons from depth images can provide important metrics for healthcare applications, especially for biomechanical gait analysis. However, there exist inherent problems associated with depth…
People with visual impairments often face significant challenges in locating and retrieving objects in their surroundings. Existing assistive technologies present a trade-off: systems that offer precise guidance typically require…
Precise 6-DoF simultaneous localization and mapping (SLAM) from onboard sensors is critical for wearable devices capturing egocentric data, which exhibits specific challenges, such as a wider diversity of motions and viewpoints, prevalent…
Accurately perceiving location and scene is crucial for autonomous driving and mobile robots. Recent advances in deep learning have made it possible to learn egomotion and depth from monocular images in a self-supervised manner, without…
Musculoskeletal modeling and simulations enable the accurate description and analysis of the movement of biological systems with applications such as rehabilitation assessment, prosthesis, and exoskeleton design. However, the widespread…
We propose a self-supervised monocular depth estimation network tailored for endoscopic scenes, aiming to infer depth within the gastrointestinal tract from monocular images. Existing methods, though accurate, typically assume consistent…
To enable the broad adoption of wearable robotic exoskeletons in medical and industrial settings, it is crucial they can adaptively support large repertoires of movements. We propose a new human-machine interface to simultaneously drive…
We developed a novel virtual reality [VR] platform with 3-dimensional sounds to help improve sensory integration and visuomotor processing for postural control and fall prevention in individuals with balance problems related to sensory…
This paper presents an active stabilization method for a fully actuated lower-limb exoskeleton. The method was tested on the exoskeleton ATALANTE, which was designed and built by the French start-up company Wandercraft. The main objective…
Grasping assistance is essential for restoring autonomy in individuals with motor impairments, particularly in unstructured environments where object categories and user intentions are diverse and unpredictable. We present OVGrasp, a…