相关论文: Multi-feature Compensatory Motion Analysis for Rea…

Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…

3D posture estimation is important in analyzing and improving ergonomics in physical human-robot interaction and reducing the risk of musculoskeletal disorders. Vision-based posture estimation approaches are prone to sensor and model…

A central challenge in building robotic prostheses is the creation of a sensor-based system able to read physiological signals from the lower limb and instruct a robotic hand to perform various tasks. Existing systems typically perform…

Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…

Prosthetic limb abandonment remains an unsolved challenge as amputees consistently reject their devices. Current prosthetic designs often fail to balance human-like perfomance with acceptable device weight, highlighting the need for…

Despite advances in upper-limb (UL) prosthetic design, achieving intuitive control of intermediate joints - such as the wrist and elbow - remains challenging, particularly for continuous and velocity-modulated movements. We introduce a…

Lower limb amputations and neuromuscular impairments severely restrict mobility, necessitating advancements beyond conventional prosthetics. While motorized bionic limbs show promise, their effectiveness depends on replicating the dynamic…

Obstacle crossing is an essential component of human locomotion, particularly for individuals with lower limb amputations who face elevated risks of imbalance and falls. While prior studies have explored this task, they often lack a…

3D human pose and shape estimation (a.k.a. "human mesh recovery") has achieved substantial progress. Researchers mainly focus on the development of novel algorithms, while less attention has been paid to other critical factors involved.…

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…

A sensitivity-based approach for computing over-approximations of reachable sets, in the presence of constant parameter uncertainties and a single initial state, is used to analyze a three-link planar robot modeling a Powered Lower Limb…

Human movement analysis is a key area of research in robotics, biomechanics, and data science. It encompasses tracking, posture estimation, and movement synthesis. While numerous methodologies have evolved over time, a systematic and…

Human motion detection is getting considerable attention in the field of Artificial Intelligence (AI) driven healthcare systems. Human motion can be used to provide remote healthcare solutions for vulnerable people by identifying particular…

This paper presents the design and development of a robotic system to give physical assistance to the elderly or people with neurological disorders such as Ataxia or Parkinson's. In particular, we propose using a mobile collaborative robot…

This paper focuses on the analysis of human gait cycle dynamics and presents a mathematical model to determine the torque exerted on the lower limb joints throughout the complete gait cycle, including its various phases. The study involved…

Environment awareness is crucial for enhancing walking safety and stability of amputee wearing powered prosthesis when crossing uneven terrains such as stairs and obstacles. However, existing environmental perception systems for prosthesis…

Wrist-driven orthotics have been designed to assist people with C6-7 spinal cord injury, however, the kinematic constraint imposed by such a control strategy can impede mobility and lead to abnormal body motion. This study characterizes…

Timely and adequate rehabilitation is critical in facilitating post-stroke recovery. However, the organization and delivery of rehabilitation are resource-demanding, and are only available to approximately 25% of stroke survivors in…

Robots have the potential to assist people in bed, such as in healthcare settings, yet bedding materials like sheets and blankets can make observation of the human body difficult for robots. A pressure-sensing mat on a bed can provide…

In mmWave-based pose estimation, sparse signals and weak reflections often cause models to infer body joints from statistical priors rather than sensor data. While prior knowledge helps in learning meaningful representations, over-reliance…