相关论文: IMUCoCo: Enabling Flexible On-Body IMU Placement f…

We present Whole-Body Mobile Manipulation Interface (HoMMI), a data collection and policy learning framework that learns whole-body mobile manipulation directly from robot-free human demonstrations. We augment UMI interfaces with egocentric…

Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained…

Previous methods solve feature matching and pose estimation using a two-stage process by first finding matches and then estimating the pose. As they ignore the geometric relationships between the two tasks, they focus on either improving…

This work devises an optimized machine learning approach for human arm pose estimation from a single smartwatch. Our approach results in a distribution of possible wrist and elbow positions, which allows for a measure of uncertainty and the…

The capability to extract task specific, semantic information from raw sensory data is a crucial requirement for many applications of mobile robotics. Autonomous inspection of critical infrastructure with Unmanned Aerial Vehicles (UAVs),…

Hand pose tracking is essential for advancing applications in human-computer interaction. Current approaches, such as vision-based systems and wearable devices, face limitations in portability, usability, and practicality. We present a…

This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…

Acupuncture, one of the key therapeutic methods in Traditional Chinese Medicine (TCM), has been widely adopted in various clinical fields. Quantitative research on acupuncture manipulation parameters is critical to achieve standardized…

Pre-training representations acquired via self-supervised learning could achieve high accuracy on even tasks with small training data. Unlike in vision and natural language processing domains, pre-training for IMU-based applications is…

Mastering psychomotor skills, such as those essential in sports, rehabilitation, and professional training, often requires a precise understanding of motion patterns and performance metrics. This study proposes a versatile framework for…

Sensor-based human activity recognition (HAR) is now a research hotspot in multiple application areas. With the rise of smart wearable devices equipped with inertial measurement units (IMUs), researchers begin to utilize IMU data for HAR.…

Prolonged seated activity is increasingly common in modern environments, raising concerns around musculoskeletal health, ergonomics, and the design of responsive interactive systems. Existing posture sensing methods such as vision-based or…

Accurate real-time estimation of human movement dynamics, including internal joint moments and muscle forces, is essential for applications in clinical diagnostics and sports performance monitoring. Inertial measurement units (IMUs) provide…

Sparse Inertial Measurement Units (IMUs) based human motion capture has gained significant momentum, driven by the adaptation of fundamental AI tools such as recurrent neural networks (RNNs) and transformers that are tailored for temporal…

This study presents significant enhancements in human pose estimation using the MediaPipe framework. The research focuses on improving accuracy, computational efficiency, and real-time processing capabilities by comprehensively optimising…

The advent of 6G is expected to enable many use cases which may rely on accurate knowledge of the location and orientation of user equipment (UE). The conventional localization methods suffer from limitations such as synchronization and…

As a critical component of Wearable AI, IMU-based Human Activity Recognition (HAR) has attracted increasing attention from both academia and industry in recent years. Although HAR performance has improved considerably in specific scenarios,…

This paper presents a novel framework to realize proprioception and closed-loop control for soft manipulators. Deformations with large elongation and large bending can be precisely predicted using geometry-based sensor signals obtained from…

This work focuses on tracking and understanding human motion using consumer wearable devices, such as VR/AR headsets, smart glasses, cellphones, and smartwatches. These devices provide diverse, multi-modal sensor inputs, including…

Inertial motion capture is a promising approach for capturing motion outside the laboratory. However, as one major drawback, most of the current methods require different quantities to be calibrated or computed offline as part of the setup…