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

Gait event detection of the initial contact and toe off is essential for running gait analysis, allowing the derivation of parameters such as stance time. Heuristic-based methods exist to estimate these key gait events from tibial…

Assistive devices, such as exoskeletons and prostheses, have revolutionized the field of rehabilitation and mobility assistance. Efficiently detecting transitions between different activities, such as walking, stair ascending and…

Get-Up-and-Go Test is commonly used for assessing the physical mobility of the elderly by physicians. This paper presents a method for automatic analysis and classification of human gait in the Get-Up-and-Go Test using a Microsoft Kinect…

The way organs are positioned and moved in the workplace can cause pain and physical harm. Therefore, ergonomists use ergonomic risk assessments based on visual observation of the workplace, or review pictures and videos taken in the…

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…

For parameter estimation of continuous and discrete distributions, we propose a generalization of the method of moments (MM), where Stein identities are utilized for improved estimation performance. The construction of these Stein-type…

Momentum observer (MOB) can estimate external joint torque without requiring additional sensors, such as force/torque or joint torque sensors. However, the estimation performance of MOB deteriorates due to the model uncertainty which…

Current gait analysis faces challenges in various aspects, including limited and poorly labeled data within existing wearable electronics databases, difficulties in collecting patient data due to privacy concerns, and the inadequacy of the…

Gait velocity has been consistently shown to be an important indicator and predictor of health status, especially in older adults. Gait velocity is often assessed clinically, but the assessments occur infrequently and thus do not allow…

Lower limbs exoskeletons provide assistance during standing, squatting, and walking. Gait dynamics, in particular, implies a change in the configuration of the device in terms of contact points, actuation, and system dynamics in general. In…

Objective: Heartbeat detection remains central to cardiac disease diagnosis and management, and is traditionally performed based on electrocardiogram (ECG). To improve robustness and accuracy of detection, especially, in certain…

Human motion prediction is a challenging and important task in many computer vision application domains. Existing work only implicitly models the spatial structure of the human skeleton. In this paper, we propose a novel approach that…

We tackle the problem of tracking the human lower body as an initial step toward an automatic motion assessment system for clinical mobility evaluation, using a multimodal system that combines Inertial Measurement Unit (IMU) data, RGB…

Photoplethysmography (PPG) sensors allow for non-invasive and comfortable heart-rate (HR) monitoring, suitable for compact wrist-worn devices. Unfortunately, Motion Artifacts (MAs) severely impact the monitoring accuracy, causing high…

Gait asymmetry is a significant clinical characteristic of hemiplegic gait that most stroke survivors suffer, leading to limited mobility and long-term negative impacts on their quality of life. Although a variety of exoskeleton controls…

In the classic measurement error framework, covariates are contaminated by independent additive noise. This paper considers parameter estimation in such a linear errors-in-variables model where the unknown measurement error distribution is…

Background: Hip replacement procedures improve patient lives by relieving pain and restoring mobility. Predicting hip replacement in advance could reduce pain by enabling timely interventions, prioritising individuals for surgery or…

Squatting is one of the most demanding lower-limb movements, requiring substantial muscular effort and coordination. Reducing the physical demands of this task through intelligent and personalized assistance has significant implications,…

Objective: Muscle contractions are commonly detected by performing EMG measurements. The major disadvantage of this technique is that mechanical disturbances to the electrodes are in the same frequency and magnitude range as the desired…

Effective exoskeleton assistance requires co-adaptation: as the device alters joint dynamics, the user reorganizes neuromuscular coordination, creating a non-stationary learning problem. Most learning-based approaches do not explicitly…