相关论文: Safety Evaluation of Human Arm Operations Using IM…
Inertial Measurement Units (IMUs) enable portable, multibody motion capture (MoCap) in diverse environments beyond the laboratory, making them a practical choice for diagnosing mobility disorders and supporting rehabilitation in clinical or…
Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…
In this paper we propose a novel accurate method for dead-reckoning of wheeled vehicles based only on an Inertial Measurement Unit (IMU). In the context of intelligent vehicles, robust and accurate dead-reckoning based on the IMU may prove…
Pedestrian tracking has long been considered an important problem, especially in security applications. Previously,many approaches have been proposed with various types of sensors. One popular method is Pedestrian Dead Reckoning(PDR) [1]…
Inertial Measurement Units (IMUs) are interceptive modalities that provide ego-motion measurements independent of the environmental factors. They are widely adopted in various autonomous systems. Motivated by the limitations in processing…
The integration of advanced control strategies into prosthetic hands is essential to improve their adaptability and performance. In this study, we present an implementation of a Model Predictive Control (MPC) strategy to regulate the…
Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground. Contact state estimation is regarded as a challenging…
This work explores the nature of augmented importance sampling in safety-constrained model predictive control problems. When operating in a constrained environment, sampling based model predictive control and motion planning typically…
Most online handwriting recognition systems require the use of specific writing surfaces to extract positional data. In this paper we present a online handwriting recognition system for word recognition which is based on inertial…
Compensatory trunk movements (CTMs) are commonly observed after stroke and can lead to maladaptive movement patterns, limiting targeted training of affected structures. Objective, continuous detection of CTMs during therapy and activities…
Inertial navigation systems for pedestrians are infrastructure-less and can achieve sub-meter accuracy in the short/medium period. However, when low-cost inertial measurement units (IMU) are employed for their implementation, they suffer…
In this paper, we present an approach for quantifying the propagated uncertainty of robot systems in an online and data-driven manner. Especially in Human-Robot Collaboration, keeping track of the safety compliance during run time is…
Recent progress in human-robot collaboration makes fast and fluid interactions possible, even when human observations are partial and occluded. Methods like Interaction Probabilistic Movement Primitives (ProMP) model human trajectories…
In this study we evaluated human-robot collaboration models in an integrated human-robot operational system. An integrated work cell which includes a robotic arm working collaboratively with a human worker was specially designed for…
This paper presents a state-estimation solution for legged robots that uses a set of low-cost, compact, and lightweight sensors to achieve low-drift pose and velocity estimation under challenging locomotion conditions. The key idea is to…
This paper presents an algorithm that makes novel use of distance measurements alongside a constrained Kalman filter to accurately estimate pelvis, thigh, and shank kinematics for both legs during walking and other body movements using only…
Physical function monitoring (PFM) plays a crucial role in healthcare especially for the elderly. Traditional assessment methods such as the Short Physical Performance Battery (SPPB) have failed to capture the full dynamic characteristics…
Robots are frequently utilized in search-and-rescue operations. In recent years, significant advancements have been made in the field of victim assessment. However, there are still open issues regarding heart rate measurement, and no…
The miniaturization of inertial measurement units (IMUs) facilitates their widespread use in a growing number of application domains. Orientation estimation is a prerequisite for most further data processing steps in inertial motion…
Compared with visual signals, Inertial Measurement Units (IMUs) placed on human limbs can capture accurate motion signals while being robust to lighting variation and occlusion. While these characteristics are intuitively valuable to help…