Publications related to Heel and Toe Clearance Estimation for Gait Analysis Using Wireless Inertial Sensors

Related publications (32)

EPFL-Smart-Kitchen-30 Collected data

Silvestro Micera, Friedhelm Christoph Hummel, Solaiman Shokur, Alexander Mathis, Mahdi Hamidi Rad, Haozhe Qi, Franklin Leong, Andy Bonnetto, Matea Tashkovska

Understanding behavior requires datasets that capture humans while carrying out complex tasks. The kitchen is an excellent environment for assessing human motor and cognitive function, as many complex actions are naturally exhibited in kitchens from choppi ...

Zenodo2025

VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones

Jan Skaloud, Aman Sharma, Gabriel François Laupré

Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global N ...

2024

Integrated Wireless Power, Data Communication, and Thermal Sensing System for Autonomous Multisite Brain Implants

Mohammad Javad Karimi

Implanted medical devices (IMDs) have been widely developed to support the monitoring and recording of biological data inside the body or brain. Wirelessly powered IMDs, a subset of implantable electronics, have been proposed to eliminate the limitations r ...

EPFL2024

Airborne sensor fusion: Expected accuracy and behavior of a concurrent adjustment

Jan Skaloud, Davide Antonio Cucci, Aurélien Arnaud Brun, Kyriaki Mouzakidou

Tightly-coupled sensor orientation, i.e. the simultaneous processing of temporal (GNSS and raw inertial) and spatial (image and lidar) constraints in a common adjustment, has demonstrated significant improvement in the quality of attitude determination wit ...

2024

VDM-based navigation for Delta-wing UAVs: Models, calibration, implementation

Pasquale Longobardi

Autonomous navigation of small UAVs is typically based on the integration of inertial navigation systems (INS) together with global navigation satellite systems (GNSS). However, GNSS signals can face various forms of interference affecting their continuous ...

EPFL2024

TSLAM: a tag-based object-centered monocular navigation system for augmented manual woodworking

Yves Weinand, Julien Gamerro, Andrea Settimi, Hong-Bin Yang

TimberSLAM (TSLAM) is an object-centered, tag-based visual self-localization and mapping (SLAM) system for monocular RGB cameras. It was specifically developed to support a robust and augmented reality pipeline for close-range, noisy, and cluttered fabrica ...

2024

From finger animation to full-body embodiment of avatars with different morphologies and proportions

Mathias Guy Delahaye

VR (Virtual Reality) is a real-time simulation that creates the subjective illusion of being in a virtual world. This thesis explores how integrating the user's body and fingers can be achieved and beneficial for the user to experience VR. At the advent of ...

EPFL2023

Neurophysiological underpinnings of an intensive protocol for upper limb motor recovery in subacute and chronic stroke patients

Silvestro Micera

ABS T R A C T BACKGROUND: Upper limb (UL) motor impairment following stroke is a leading cause of functional limitations in activities of daily living. Robot-assisted therapy supports rehabilitation, but how its efficacy and the underlying neural mechanism ...

Edizioni Minerva Medica2023

Exploration-based model learning with self-attention for risk-sensitive robot control

Sudong Lee

Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

2023

Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot

Auke Ijspeert, Karen Ann J Mulleners, Kamilo Andres Melo Becerra, Laura Isabel Paez Coy, Alexandros Anastasiadis

Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to livin ...

Nature Research2023

REMOTE: Re-thinking Task Mapping on Wireless 2.5D Systems-on-Package for Hotspot Removal

David Atienza Alonso, Giovanni Ansaloni, Marina Zapater Sancho, Darong Huang, Rafael Medina Morillas

2.5D Systems-on-Package (SoPs) are composed by several chiplets placed on an interposer. They are becoming increasingly popular as they enable easy integration of electronic components in the same package and high fabrication yields. Nevertheless, they int ...

2023

Investigating the roles of reflexes and central pattern generators in the control and modulation of human locomotion using a physiologically plausible neuromechanical model

Auke Ijspeert, Andrea Di Russo, Dimitar Yuriev Stanev

Objective. Studying the neural components regulating movement in human locomotion is obstructed by the inability to perform invasive experimental recording in the human neural circuits. Neuromechanical simulations can provide insights by modeling the locom ...

Iop Publishing Ltd2023

Indoor Real-time localization system design for Internet of Things applications

Pooneh Mohaghegh

With the prevalence of smartphones, watches, and Internet of Things (IoT) devices, the ability to track their positions is becoming increasingly important. For many indoor positioning systems (IPSs), providing an uninterrupted flow of information in real-t ...

EPFL2023

WINC: A Wireless IoT Network for Multi-Noise Source Cancellation

Haitham Al Hassanieh, Junfeng Guan

This paper introduces Wireless IoT-based Noise Cancellation (WINC) which defines a framework for leveraging a wireless network of IoT microphones to enhance active noise cancellation in noise-canceling headphones. The IoT microphones forward ambient noise ...

Assoc Computing Machinery2023

Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

Josephine Anna Eleanor Hughes, Francesco Stella, Qinghua Guan

Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and m ...

IEEE2023

Implicit Distance Functions: Learning and Applications in Robotics

Mikhail Koptev

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

EPFL2023

SmartSwim: A novel approach to swimming analysis and coaching assistance based on wearable inertial sensors

Mahdi Hamidi Rad

As one of the three most popular sports in the Summer Olympics, competitive swimming has always been an attractive subject of study for sports scientists. The intricate nature of the swimmer's movements and the variety of techniques have led coaches to req ...

EPFL2022

The effects of kinematics, flexibility, and planform on the vortex formation and aerodynamic performance of flapping wing flight

Alexander Gehrke

In this thesis, the aerodynamic challenges in flapping wing flight are addressed. In particular, the effects of different wing kinematics, flexibilities, and planforms on the the leading edge vortex development and aerodynamic performance are investigated. ...

EPFL2023

Online active and dynamic object shape exploration with a multi-fingered robotic hand

Aude Billard, Kunpeng Yao, Farshad Khadivar, Xiao Gao

The sense of touch can provide a robot with a wealth of information about the contact region when interacting with an unknown environment. Nevertheless, utilizing touch information to plan exploration paths and adjust robot posture to improve task efficien ...

Elsevier2023

Vision-based Flocking in Aerial Robot Swarms

Fabian Maximilian Schilling

Aerial robot swarms have the potential to perform time-critical and dangerous tasks such as disaster response without compromising human safety. However, their reliance on external infrastructure such as global positioning for localization and wireless net ...

EPFL2022