相关论文: Locomotion Mode Transitions: Tackling System- and …
There are over a hundred virtual reality (VR) locomotion techniques that exist today, with new ones being designed as VR technology evolves. The different ways of controlling locomotion techniques (e.g., gestures, button inputs, body…
In the control of lower-limb exoskeletons with feet, the phase in the gait cycle can be identified by monitoring the weight distribution at the feet. This phase information can be used in the exoskeleton's controller to compensate the…
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…
Exoskeletons play a crucial role in assisting patients with varying mobility levels during rehabilitation. However, existing control strategies face challenges such as imprecise trajectory tracking, interaction torque oscillations, and…
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…
Accurate gait event detection is crucial for gait analysis, rehabilitation, and assistive technology, particularly in exoskeleton control, where precise identification of stance and swing phases is essential. This study evaluated the…
Accurate prediction of human movements is required to enhance the efficiency of physical human-robot interaction. Behavioral differences across various users are crucial factors that limit the prediction of human motion. Although recent…
Current gait recognition research mainly focuses on identifying pedestrians captured by the same type of sensor, neglecting the fact that individuals may be captured by different sensors in order to adapt to various environments. A more…
Falls are the leading cause of injury related hospitalization and mortality among older adults. Consequently, mitigating age-related declines in gait stability and reducing fall risk during walking is a critical goal for assistive devices.…
Teleportation is one of the most common locomotion techniques in virtual reality, yet its perceptual properties remain underexplored. While redirected walking research has shown that users' movements can be subtly manipulated without…
Back-support exoskeletons (BSEs) mitigate musculoskeletal strain, yet their efficacy depends on precise, context-aware modulation. This paper introduces a user-centric optimization framework and a vision-based adaptive control strategy for…
This work presents a description of the EXOSMOOTH project, oriented to the benchmarking of lower limb exoskeletons performance. In the field of assisted walking by powered lower limb exoskeletons, the EXOSMOOTH project proposes an…
Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…
Accurate lower-limb joint kinematic estimation is critical for applications such as patient monitoring, rehabilitation, and exoskeleton control. While previous studies have employed wearable sensor-based deep learning (DL) models for…
Designing an exoskeleton to reduce the risk of low-back injury during lifting is challenging. Computational models of the human-robot system coupled with predictive movement simulations can help to simplify this design process. Here, we…
When executing whole-body motions, humans are able to use a large variety of support poses which not only utilize the feet, but also hands, knees and elbows to enhance stability. While there are many works analyzing the transitions involved…
Lower limb exoskeletons and prostheses require precise, real time gait phase and step detections to ensure synchronized motion and user safety. Conventional methods often rely on complex force sensing hardware that introduces control…
Legged robots can outperform wheeled machines for most navigation tasks across unknown and rough terrains. For such tasks, visual feedback is a fundamental asset to provide robots with terrain-awareness. However, robust dynamic locomotion…
Hybrid systems, such as bipedal walkers, are challenging to control because of discontinuities in their nonlinear dynamics. Little can be predicted about the systems' evolution without modeling the guard conditions that govern transitions…
Traditional one-step preview planning algorithms for bipedal locomotion struggle to generate viable gaits when walking across terrains with restricted footholds, such as stepping stones. To overcome such limitations, this paper introduces a…