System and method for 3d gait assessment

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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 ...

Inertial measurement unit (IMU) sensors are widely used for motion analysis in sports and rehabilitation. The attachment of IMU sensors to predefined body segments and sides (left/right) is complex, time-consuming, and error-prone. Methods for solving the ...

Objective. Powered lower-limb prostheses relying on decoding motor intentions from non-invasive sensors, like electromyographic (EMG) signals, can significantly improve the quality of life of amputee subjects. However, the optimal combination of high decod ...

Locomotion is based on a sophisticated interaction among the environment, the musculoskeletal system, the spinal cord, and the brain locomotor areas. Quality of life is strongly related to the proper capability of this movement. However, many pathologies, ...

The growing demand for online gait phase (GP) estimation, driven by advancements in exoskeletons and prostheses, has prompted numerous approaches in the literature. Some approaches explicitly use time, while others rely on state variables to estimate the G ...

Gait impairments is a common condition in post-stroke subjects. We recently presented a wearable ankle exoskeleton called G-Exos, which showed that the device assisted in the ankle's dorsiflexion and inversion/reversion movements. The aim of the current pi ...

The transition from aquatic to terrestrial environments represents a significant event in the history of evolution. For this transition to occur, animals had to adapt their morphology, physiology and locomotory skills to handle the challenges and interacti ...

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 ...

The detection of digital face manipulation in video has attracted extensive attention due to the increased risk to public trust. To counteract the malicious usage of such techniques, deep learning-based deepfake detection methods have been developed and ha ...

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 ...

This paper proposes a novel method to improve georeferencing of airborne laser scanning by improved trajectory estimation using Vehicle Dynamic Model. In Vehicle Dynamic Model (VDM), the relationship between the dynamics of the platform and control inputs ...

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 ...

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 ...

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 ...

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 ...

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. ...

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 ...

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 ...

In this paper, we present an approach for learning a neural implicit signed distance function expressed in joint space coordinates, that efficiently computes distance-to-collisions for arbitrary robotic manipulator configurations. Computing such distances ...

Understanding the influence of running-induced acute fatigue on the homeostasis of the body is essential to mitigate the adverse effects and optimize positive adaptations to training. Fatigue is a multifactorial phenomenon, which influences biomechanical, ...

System and method for 3d gait assessment

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

Automatic Body Segment and Side Recognition of an Inertial Measurement Unit Sensor during Gait

Early decoding of walking tasks with minimal set of EMG channels

Investigating the neuromechanical control of healthy gait modulation and pathological gaits observed in cerebral palsy using neuromuscular simulations

State-Based Versus Time-Based Estimation of the Gait Phase for Hip Exoskeletons in Steady and Transient Walking

Immediate effect of ankle exoskeleton on spatiotemporal parameters and center of pressure trajectory after stroke

Neuromechanical Simulations of Animats with Decentralised Control

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

Impact of Video Processing Operations in Deepfake Detection

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

Model-based constraints for trajectory determination of quad-copters: Design, calibration & merits for direct orientation

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

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

Implicit Distance Functions: Learning and Applications in Robotics

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

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

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

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

Neural Joint Space Implicit Signed Distance Functions for Reactive Robot Manipulator Control

Concurrent Evolution of Biomechanical and Physiological Parameters With Running-Induced Acute Fatigue