相关论文: Joint Moment Estimation for Hip Exoskeleton Contro…

Previous research has shown that the effective use of inertial motion (i.e., less or no torque input at the knee joint) plays an important role in achieving a smooth gait of transfemoral prostheses in the swing phase. In our previous…

In this paper, we propose a method that estimates a gait index for a sequence of skeletons. Our system is a stack of an encoder and a decoder that are formed by Long Short-Term Memories (LSTMs). In the encoding stage, the characteristics of…

Estimation of temporospatial clinical features of gait (CFs), such as step count and length, step duration, step frequency, gait speed, and distance traveled, is an important component of community-based mobility evaluation using wearable…

Partial-assistance exoskeletons hold significant potential for gait rehabilitation by promoting active participation during (re)learning of normative walking patterns. Typically, the control of interaction torques in partial-assistance…

Patient motion is well-known for degrading image quality during medical imaging. Especially positron emission tomography (PET) is susceptible to motion due to its usually long scan times. In hybrid PET/MRI (magnetic resonance imaging),…

Human motion prediction is an essential step for efficient and safe human-robot collaboration. Current methods either purely rely on representing the human joints in some form of neural network-based architecture or use regression models…

Wearable exoskeletons can augment human strength and reduce muscle fatigue during specific tasks. However, developing personalized and task-generalizable assistance algorithms remains a critical challenge. To address this, a meta-imitation…

Human motion prediction is a fundamental part of many human-robot applications. Despite the recent progress in human motion prediction, most studies simplify the problem by predicting the human motion relative to a fixed joint and/or only…

Most realtime human pose estimation approaches are based on detecting joint positions. Using the detected joint positions, the yaw and pitch of the limbs can be computed. However, the roll along the limb, which is critical for application…

The increasing pace of population aging calls for better care and support systems. Falling is a frequent and critical problem for elderly people causing serious long-term health issues. Fall detection from video streams is not an attractive…

2D-to-3D human pose lifting is fundamental for 3D human pose estimation (HPE), for which graph convolutional networks (GCNs) have proven inherently suitable for modeling the human skeletal topology. However, the current GCN-based 3D HPE…

Motion prediction is a classic problem in computer vision, which aims at forecasting future motion given the observed pose sequence. Various deep learning models have been proposed, achieving state-of-the-art performance on motion…

Identifying humans with their walking sequences, known as gait recognition, is a useful biometric understanding task as it can be observed from a long distance and does not require cooperation from the subject. Two common modalities used…

Goal: This paper presents an algorithm for estimating pelvis, thigh, shank, and foot kinematics during walking using only two or three wearable inertial sensors. Methods: The algorithm makes novel use of a Lie-group-based extended Kalman…

Inference in models where the parameter is defined by moment inequalities is of interest in many areas of economics. This paper develops a new method for improving the performance of generalized moment selection (GMS) testing procedures in…

Lower extremity exoskeleton has been developed as a motion assistive technology in recent years. Walking pattern generation is a fundamental topic in the design of these robots. The usual approach with most exoskeletons is to use a…

Goal: This paper presents an algorithm for accurately estimating pelvis, thigh, and shank kinematics during walking using only three wearable inertial sensors. Methods: The algorithm makes novel use of a constrained Kalman filter (CKF). The…

Due to the redundancy of our motor system, movements can be performed in many ways. While multiple motor control strategies can all lead to the desired behavior, they result in different joint and muscle forces. This creates opportunities…

Brain-machine interfaces (BMIs) help the disabled restore body functions by translating neural activity into digital commands to control external devices. Neural adaptation, where the brain signals change in response to external stimuli or…

Hip exoskeletons are known for their versatility in assisting users across varied scenarios. However, current assistive strategies often lack the flexibility to accommodate for individual walking patterns and adapt to diverse locomotion…