相关论文: Safety Evaluation of Human Arm Operations Using IM…
Ensuring human safety is of paramount importance in warehouse environments that feature mixed traffic of human workers and autonomous mobile robots (AMRs). Current approaches often treat humans as generic dynamic obstacles, leading to…
Treating IMU measurements as inputs to a motion model and then preintegrating these measurements has almost become a de-facto standard in many robotics applications. However, this approach has a few shortcomings. First, it conflates the IMU…
This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular…
This work presents methods for the determination of a humanoid robot's joint velocities and accelerations directly from link-mounted Inertial Measurement Units (IMUs) each containing a three-axis gyroscope and a three-axis accelerometer. No…
Modern industry still relies on manual manufacturing operations and safe human-robot interaction is of great interest nowadays. Speed and Separation Monitoring (SSM) allows close and efficient collaborative scenarios by maintaining a…
Work-related upper extremity musculoskeletal disorders (WRUED) are a major problem in modern societies as they affect the quality of life of workers and lead to absenteeism and productivity loss. According to studies performed in North…
We introduce a novel simulation-based approach to identify hazards that result from unexpected worker behavior in human-robot collaboration. Simulation-based safety testing must take into account the fact that human behavior is variable and…
Early identification of individuals at risk of stroke remains a major clinical challenge, as prodromal motor im- pairments are often subtle and transient. In this pilot study, a wearable sensor-based framework is proposed for early pre-…
Real-time tracking of inertia is important because it reflects the power system's ability to withstand contingencies and maintain frequency security. This paper proposes a practical approach to estimate inertia using ambient phasor…
A reliable pose estimator robust to environmental disturbances is desirable for mobile robots. To this end, inertial measurement units (IMUs) play an important role because they can perceive the full motion state of the vehicle…
In this work we present more comprehensive evaluations on our airborne Gimbal mounted inertial measurement unit (IMU) signal simulator which also considers flight dynamic model (FDM). A flexible IMU signal simulator is an enabling tool in…
IMUs are gaining significant importance in the field of hand gesture analysis, trajectory detection and kinematic functional study. An Inertial Measurement Unit (IMU) consists of tri-axial accelerometers and gyroscopes which can together be…
To operate safely and efficiently alongside human workers, collaborative robots (cobots) require the ability to quickly understand the dynamics of manipulated objects. However, traditional methods for estimating the full set of inertial…
This paper introduces a new approach to 3-D position estimation from acceleration data, i.e., a 3-D motion tracking system having a small size and low-cost magnetic and inertial measurement unit (MIMU) composed by both a digital compass and…
Accurate human motion prediction is crucial for safe human-robot collaboration but remains challenging due to the complexity of modeling intricate and variable human movements. This paper presents Parallel Multi-scale Incremental Prediction…
This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…
During the conceptual and prototype design stage of an industrial product, it is crucial to take assembly/disassembly and maintenance operations in advance. A well-designed system should enable relatively easy access of operating…
Inertial Measurement Unit (IMU) has long been a dream for stable and reliable motion estimation, especially in indoor environments where GPS strength limits. In this paper, we propose a novel method for position and orientation estimation…
This study presents an enhanced proprioceptive method for accurate shape estimation of soft robots using only off-the-shelf sensors, ensuring cost-effectiveness and easy applicability. By integrating inertial measurement units (IMUs) with…
Intelligent wearable technology plays an increasingly important role in human-computer interaction, motion, and health monitoring. To ensure comfort and practicality of use, one common form for motion monitoring is to utilize soft wearable…