相关论文: Reliable Vertical Ground Reaction Force Estimation…
Impedance-based control represents a prevalent strategy in the powered trans femoral prostheses because of its ability to reproduce natural walking. However, most existing studies have developed impedance-based prosthesis controllers for…
A complete smart insole solution that continuously monitors the foot plantar pressure and temperature can detect foot complications early and that too from the convenience of the user home. Widespread health complications such as Diabetic…
Respiratory rate (RR) can be estimated from the photoplethysmogram (PPG) recorded by optical sensors in wearable devices. The fusion of estimates from different PPG features has lead to an increase in accuracy, but also reduced the numbers…
Controlling Wheeled-legged robots is challenging especially on slippery surfaces due to their dependence on continuous ground contact. Unlike quadrupeds or bipeds, which can leverage multiple fixed contact points for recovery,…
Robots that traverse natural terrain must interpret contact forces generated under highly dynamic conditions. However, most terrain characterization approaches rely on quasi-static assumptions that neglect velocity- and…
Previous studies showed that natural walking reduces the susceptibility to VR sickness. However, many users still experience VR sickness when wearing VR headsets that allow free walking in room-scale spaces. This paper studies VR sickness…
In-home gait analysis is important for providing early diagnosis and adaptive treatments for individuals with gait disorders. Existing systems include wearables and pressure mats, but they have limited scalability. Recent studies have…
Current methods for estimating force from tactile sensor signals are either inaccurate analytic models or task-specific learned models. In this paper, we explore learning a robust model that maps tactile sensor signals to force. We…
Infants' spontaneous and voluntary movements mirror developmental integrity of brain networks since they require coordinated activation of multiple sites in the central nervous system. Accordingly, early detection of infants with atypical…
In this study, we present a feedforward control system designed for active gravity compensation on an upper body exoskeleton. The system utilizes only positional data from internal motor sensors to calculate torque, employing analytical…
A simple approach to gyro and accelerometer bias estimation is proposed. It does not involve Kalman filtering or similar formal techniques. Instead, it is based on physical intuition and exploits a duality between gimbaled and strapdown…
Objective: In this paper, we demonstrate the applicability of radar for gait classification with application to home security, medical diagnosis, rehabilitation and assisted living. Aiming at identifying changes in gait patterns based on…
Heart Rate Variability (HRV) measures the variation of the time between consecutive heartbeats and is a major indicator of physical and mental health. Recent research has demonstrated that photoplethysmography (PPG) sensors can be used to…
Inertial measurement units are commonly used to estimate the attitude of moving objects. Numerous nonlinear filter approaches have been proposed for solving the inherent sensor fusion problem. However, when a large range of different…
This paper presents a convolutional neural network based foot motion tracking with only six-axis Inertial-Measurement-Unit (IMU) sensor data. The presented approach can adapt to various walking conditions by adopting differential and window…
Recent studies showed that Photoplethysmography (PPG) sensors embedded in wearable devices can estimate heart rate (HR) with high accuracy. However, despite of prior research efforts, applying PPG sensor based HR estimation to embedded…
For full-size humanoid robots, even with recent advances in reinforcement learning-based control, achieving reliable locomotion on complex terrains, such as long staircases, remains challenging. In such settings, limited perception,…
In the context of legged robots, adaptive behavior involves adaptive balancing and adaptive swing foot reflection. While adaptive balancing counteracts perturbations to the robot, adaptive swing foot reflection helps the robot to navigate…
With rapid advancements in exoskeleton hardware technologies, successful assessment and accurate control remain challenging. This study introduces a modular sensor-based system to enhance biomechanical evaluation and control in lower-limb…
Gait speed is a widely used indicator of functional health and mobility decline, yet in clinical practice it is commonly measured manually using a stopwatch, which limits scalability and measurement frequency. Privacy-preserving and…