相关论文: Beyond Gait: Learning Knee Angle for Seamless Pros…

Human gait has been commonly used for the diagnosis and evaluation of medical conditions and for monitoring the progress during treatment and rehabilitation. The use of wearable sensors that capture pressure or motion has yielded techniques…

In this work, we present a novel framework for on-line human gait stability prediction of the elderly users of an intelligent robotic rollator using Long Short Term Memory (LSTM) networks, fusing multimodal RGB-D and Laser Range Finder…

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…

Markerless pose estimation allows reconstructing human movement from multiple synchronized and calibrated views, and has the potential to make movement analysis easy and quick, including gait analysis. This could enable much more frequent…

Accurate lower-limb joint kinematic estimation is critical for applications such as patient monitoring, rehabilitation, and exoskeleton control. While previous studies have employed wearable sensor-based deep learning (DL) models for…

Many people suffer from the loss of a limb. Learning to get by without an arm or hand can be very challenging, and existing prostheses do not yet fulfil the needs of individuals with amputations. One promising solution is to provide greater…

Prosthetic hands can help people with limb difference to return to their life routines. Commercial prostheses, however have several limitations in providing an acceptable dexterity. We approach these limitations by augmenting the prosthetic…

Natural muscles provide mobility in response to nerve impulses. Electromyography (EMG) measures the electrical activity of muscles in response to a nerve's stimulation. In the past few decades, EMG signals have been used extensively in the…

Walking on compliant terrain presents a substantial challenge for individuals with lower-limb amputation, further elevating their already high risk of falling. While powered ankle-foot prostheses have demonstrated adaptability across speeds…

Radiographic knee alignment (KA) measurement is important for predicting joint health and surgical outcomes after total knee replacement. Traditional methods for KA measurements are manual, time-consuming and require long-leg radiographs.…

Powered prostheses are capable of providing net positive work to amputees and have advanced in the past two decades. However, reducing amputee metabolic cost of walking remains an open problem. The Law of Intersegmental Coordination (ISC)…

Surface electromyography (s-EMG) sensors are a promising way to control upper-limb prostheses. However a training session is necessary in order to set up the controller that will make s-EMG based movement possible. All data recorded during…

Powered prosthetic legs must anticipate the user's intent when switching between different locomotion modes (e.g., level walking, stair ascent/descent, ramp ascent/descent). Numerous data-driven classification techniques have demonstrated…

This paper presents an algorithm that makes novel use of a Lie group representation of position and orientation alongside a constrained extended Kalman filter (CEKF) to accurately estimate pelvis, thigh, and shank kinematics during walking…

The electroencephalogram (EEG) is one of the most precious technologies to understand the happenings inside our brain and further understand our body's happenings. Automatic prediction of oncoming seizures using the EEG signals helps the…

We present Model-Predictive Interaction Primitives -- a robot learning framework for assistive motion in human-machine collaboration tasks which explicitly accounts for biomechanical impact on the human musculoskeletal system. First, we…

Numerical modeling of different structural materials that have highly nonlinear behaviors has always been a challenging problem in engineering disciplines. Experimental data is commonly used to characterize this behavior. This study aims to…

Natural control of limb motion is continuous and progressively adaptive to individual intent. While intuitive interfaces have the potential to rely on the neuromuscular input by the user for continuous adaptation, continuous volitional…

In this paper, we propose a novel method for monocular depth estimation in dynamic scenes. We first explore the arbitrariness of object's movement trajectory in dynamic scenes theoretically. To overcome the arbitrariness, we use assume that…

Detecting and preventing falls in humans is a critical component of assistive robotic systems. While significant progress has been made in detecting falls, the prediction of falls before they happen, and analysis of the transient state…