相关论文: IMU-based Real-Time Crutch Gait Phase and Step Det…
Gait phase estimation based on inertial measurement unit (IMU) signals facilitates precise adaptation of exoskeletons to individual gait variations. However, challenges remain in achieving high accuracy and robustness, particularly during…
Previous gait phase detection as convolutional neural network (CNN) based classification task requires cumbersome manual setting of time delay or heavy overlapped sliding windows to accurately classify each phase under different test cases,…
Accurate and rapid detection of gait phases is of utmost importance in achieving optimal performance of powered lower-limb prostheses and exoskeletons. With the increasing versatility and complexity of these robotic systems, there is a…
To improve the control of wearable robotics for gait assistance, we present an approach for continuous locomotion mode recognition as well as gait phase and stair slope estimation based on artificial neural networks that include time…
In this study, a gait phase classification method based on SVM multiclass classification is introduced, with a focus on the precise identification of the stance and swing phases, which are further subdivided into seven phases. Data from…
This work presents a wearable human activity recognition (HAR) system that performs real-time inference directly inside a shank-mounted inertial measurement unit (IMU) to support low-latency control of a lower-limb exoskeleton. Unlike…
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…
Wearable robotics for lower-limb assistance have become a pivotal area of research, aiming to enhance mobility for individuals with physical impairments or augment the performance of able-bodied users. Accurate and adaptive control systems…
Robotic prostheses and exoskeletons can do wonders compared to their non-robotic counterpart. However, in a cost-soaring world where 1 in every 10 patients has access to normal medical prostheses, access to advanced ones is, unfortunately,…
Ankle exoskeletons have garnered considerable interest for their potential to enhance mobility and reduce fall risks, particularly among the aging population. The efficacy of these devices relies on accurate real-time prediction of the…
Human motion analysis is used in many different fields and applications. Currently, existing systems either focus on one single limb or one single class of movements. Many proposed systems are designed to be used in an indoor controlled…
Assistive devices, such as exoskeletons and prostheses, have revolutionized the field of rehabilitation and mobility assistance. Efficiently detecting transitions between different activities, such as walking, stair ascending and…
We present a method to improve the accuracy of a zero-velocity-aided inertial navigation system (INS) by replacing the standard zero-velocity detector with a long short-term memory (LSTM) neural network. While existing threshold-based…
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…
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…
Falls represent a significant cause of injury among the elderly population. Extensive research has been devoted to the utilization of wearable IMU sensors in conjunction with machine learning techniques for fall detection. To address the…
Lameness and gait irregularities are significant concerns in equine health management, affecting performance, welfare, and economic value. Traditional observational methods rely on subjective expert assessments, which can lead to…
Human walking is a complex activity with a high level of cooperation and interaction between different systems in the body. Accurate detection of the phases of the gait in real-time is crucial to control lower-limb assistive devices like…
Lower limbs exoskeletons provide assistance during standing, squatting, and walking. Gait dynamics, in particular, implies a change in the configuration of the device in terms of contact points, actuation, and system dynamics in general. In…
Foot-mounted inertial sensors become popular in many indoor or GPS-denied applications, including but not limited to medical monitoring, gait analysis, soldier and first responder positioning. However, the foot-mounted inertial navigation…