相关论文: Development and Validation of a Modular Sensor-Bas…
For humans accustomed to 1-G environments on Earth, microgravity conditions in orbit and on celestial bodies with lower gravitational field, such as the Moon, can be physiologically compromising. Of these, motor and fine-dexterity tasks…
Gait is increasingly recognized as a vital sign, yet current approaches treat it as a symptom of specific pathologies rather than a systemic biomarker. We developed a gait foundation model for 3D skeletal motion from 3,414 deeply phenotyped…
In biomechanics and robotics, elasticity plays a crucial role in enhancing locomotion efficiency and stability. Traditional approaches in legged robots often employ series elastic actuators (SEA) with discrete rigid components, which, while…
Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee requires an active prosthesis, but has the potential to enable…
This paper presents design principles for comfort-centered wearable robots and their application in a lightweight and backdrivable knee exoskeleton. The mitigation of discomfort is treated as mechanical design and control issues and three…
Exoskeletons show great promise for enhancing mobility, but providing appropriate assistance remains challenging due to the complexity of human adaptation to external forces. Current state-of-the-art approaches for optimizing exoskeleton…
Increasingly stringent performance requirements for motion control necessitate the use of increasingly detailed models of the system behavior. Motion systems inherently move, therefore, spatio-temporal models of the flexible dynamics are…
In-home gait analysis is important for providing early diagnosis and adaptive treatments for individuals with gait disorders. Existing systems include wearables and pressure mats, but they have limited scalability. Recent studies have…
Background: Upper-limb weakness and tremor (4--12 Hz) limit activities of daily living (ADL) and reduce adherence to home rehabilitation. Objective: To assess technical feasibility and clinician-relevant signals of a sensor-fused wearable…
Model-based fault injection methods are widely used for the evaluation of fault tolerance in safety-critical control systems. In this paper, we introduce a new model-based fault injection method implemented as a highlycustomizable Simulink…
As bipedal robots become more and more popular in commercial and industrial settings, the ability to control them with a high degree of reliability is critical. To that end, this paper considers how to accurately estimate which feet are…
The transportation of sensitive equipment often suffers from vibrations caused by terrain, weather, and motion speed, leading to inefficiencies and potential damage. To address this challenge, this paper explores an intelligent control…
Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…
The use of exoskeleton robots is increasing due to the rising number of musculoskeletal injuries. However, their effectiveness depends heavily on the design of control systems. Designing robust controllers is challenging because of…
Canine gait analysis using wearable inertial sensors is gaining attention in veterinary clinical settings, as it provides valuable insights into a range of mobility impairments. Neurological and orthopedic conditions cannot always be easily…
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…
This project presents the development of a gait recognition system using Tiny Machine Learning (Tiny ML) and Inertial Measurement Unit (IMU) sensors. The system leverages the XIAO-nRF52840 Sense microcontroller and the LSM6DS3 IMU sensor to…
This paper presents the complete design, control, and experimental validation of a low-cost Stewart platform prototype developed as an affordable yet capable robotic testbed for research and education. The platform combines off the shelf…
Ensuring the safe and reliable operation of collaborative robots demands robust sensor diagnostics. This paper introduces a methodology for formulating model-based constraints tailored for sensor diagnostics, featuring analytical…
Developing exoskeleton controllers that generalize across diverse locomotor conditions typically requires extensive motion-capture data and biomechanical labeling, limiting scalability beyond instrumented laboratory settings. Here, we…