相关论文: A real-time full-chain wearable sensor-based muscu…
The rising number of the elderly incurs growing concern about healthcare, and in particular rehabilitation healthcare. Assistive technology and assistive robotics in particular may help to improve this process. We develop a robot coach…
The present paper aims at providing the theoretical background required for investigating the use of the Microsoft Kinect$^{\rm TM}$ (`Kinect', for short) sensors (original and upgraded) in the analysis of human motion. Our methodology is…
Background: Upper-limb weakness and tremor (4--12 Hz) limit activities of daily living (ADL) and reduce adherence to home rehabilitation. Objective: To assess technical feasibility and clinician-relevant signals of a sensor-fused wearable…
Exoskeletons for rehabilitation can help enhance motor recovery in individuals suffering from neurological disorders. Precision in movement execution, especially in arm rehabilitation, is crucial to prevent maladaptive plasticity. However,…
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…
Continuum robots are advancing bronchoscopy procedures by accessing complex lung airways and enabling targeted interventions. However, their development is limited by the lack of realistic training and test environments: Real data is…
In this paper we present a simulation framework for the evaluation of the navigation and localization metrological performances of a robotic platform. The simulator, based on ROS (Robot Operating System) Gazebo, is targeted to a…
Being able to reproduce physical phenomena ranging from light interaction to contact mechanics, simulators are becoming increasingly useful in more and more application domains where real-world interaction or labeled data are difficult to…
This article describes a software package called ROS georegistration intended for use with the Robot Operating System (ROS) and the Gazebo 3D simulation environment. ROSgeoregistration provides tools for the simulation, test and deployment…
Robotic sensorimotor extensions (supernumerary limbs, prosthesis, handheld tools) are worn devices used to interact with the nearby environment, whether to assist the capabilities of impaired users or to enhance the dexterity of industrial…
A significant challenge for the control of a robotic lower extremity rehabilitation exoskeleton is to ensure stability and robustness during programmed tasks or motions, which is crucial for the safety of the mobility-impaired user. Due to…
This paper presents design and control innovations of wearable robots that tackle two barriers to widespread adoption of powered exoskeletons, namely restriction of human movement and versatile control of wearable co-robot systems. First,…
Although we can measure muscle activity and analyze their activation patterns, we understand little about how individual muscles affect the joint torque generated. It is known that they are controlled by circuits in the spinal cord, a…
Muscle activation initiates contractions that drive human movement, and understanding it provides valuable insights for injury prevention and rehabilitation. Yet, sensing muscle activation is barely explored in the rapidly growing mobile…
This survey paper concerns Sensor Fusion for Predictive Control of Human-Prosthesis-Environment Dynamics in Assistive Walking. The powered lower limb prosthesis can imitate the human limb motion and help amputees to recover the walking…
Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model-based whole-body kinematics estimation algorithm using…
The kinematics of human movements and locomotion are closely linked to the activation and contractions of muscles. To investigate this, we present a multimodal dataset with benchmarks collected using a novel pair of Intelligent Knee Sleeves…
For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…
Conjoined collaborative robots, functioning as supernumerary robotic bodies (SRBs), can enhance human load tolerance abilities. However, in tasks involving physical interaction with humans, users may still adopt awkward, non-ergonomic…
Quantitative estimation of human joint motion in daily living spaces is essential for early detection and rehabilitation tracking of neuromusculoskeletal disorders (e.g., Parkinson's) and mitigating trip and fall risks for older adults.…