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

Inertial measurement units (IMUs) increasingly function as a basic component of wearable sensor network (WSN)systems. IMU-based joint angle estimation (JAE) is a relatively typical usage of IMUs, with extensive applications. However, the…

We developed a 3D end-effector type of upper limb assistive robot, named as Assistive Robotic Arm Extender (ARAE), that provides transparency movement and adaptive arm support control to achieve home-based therapy and training in the real…

We address the well-known wearable activity recognition problem of having to work with sensors that are non-optimal in terms of information they provide but have to be used due to wearability/usability concerns (e.g. the need to work with…

Designing generalizable control policies for lower-limb exoskeletons remains fundamentally constrained by exhaustive data collection or iterative optimization procedures, which limit accessibility to clinical populations. To address this…

Inertial measurement unit (IMU)-based 3-DoF angle estimation methods for lower limb joints have been studied for decades, however the calibration motions and/or careful sensor placement are still necessary due to challenges of real-time…

Over the past few years, the division of gait phases has emerged as a complex area of research that carries significant importance for various applications in the field of gait technologies. The accurate partitioning of gait phases plays a…

Human pose estimation has given rise to a broad spectrum of novel and compelling applications, including action recognition, sports analysis, as well as surveillance. However, accurate video pose estimation remains an open challenge. One…

This concept paper draws from our previous research on individual grip force data collected from biosensors placed on specific anatomical locations in the dominant and non dominant hands of operators performing a robot assisted precision…

Standard clinical assessments of upper-extremity motor function after stroke either rely on ordinal scoring, which lacks sensitivity, or time-based task metrics, which do not capture movement quality. In this work, we present a computer…

Model-based approaches to 3D hand tracking have been shown to perform well in a wide range of scenarios. However, they require initialisation and cannot recover easily from tracking failures that occur due to fast hand motions. Data-driven…

This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…

This paper is the first to introduce the idea of using reconfigurable intelligent surfaces (RISs) as passive devices that measure the position and orientation of certain human body parts over time. In this paper, we investigate the…

Involuntary subject motion is the main source of artifacts in weight-bearing cone-beam CT of the knee. To achieve image quality for clinical diagnosis, the motion needs to be compensated. We propose to use inertial measurement units (IMUs)…

Dexterous manipulation of objects in virtual environments with our bare hands, by using only a depth sensor and a state-of-the-art 3D hand pose estimator (HPE), is challenging. While virtual environments are ruled by physics, e.g. object…

The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to the base surface. The method employs a…

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…

Human motion prediction aims to forecast future poses given a sequence of past 3D skeletons. While this problem has recently received increasing attention, it has mostly been tackled for single humans in isolation. In this paper, we explore…

Shared control in assistive robotics blends human autonomy with computer assistance, thus simplifying complex tasks for individuals with physical impairments. This study assesses an adaptive Degrees of Freedom control method specifically…

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…

State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…