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Publications associées (27)

Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering

Josephine Anna Eleanor Hughes, Francesco Stella

The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter pr ...

Ieee-Inst Electrical Electronics Engineers Inc2024

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

Jan Skaloud, Davide Antonio Cucci, Kenneth Joseph Paul

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 ...

2023

Steps parameters of elderly patients hospitalised for an acute medical illness in a Swiss University Hospital: an observational pilot study

Anisoara Ionescu

BACKGROUND: Objective mobility goals for elderly hospitalised medical patients remain debated. We therefore studied steps parameters of elderly patients hospitalised for an acute illness, to determine goals for future interventional trials and medical prac ...

SMW supporting association2022

Micro 3D printing of a functional MEMS accelerometer

Luis Guillermo Villanueva Torrijo, Damien Maillard

Microelectromechanical system (MEMS) devices, such as accelerometers, are widely used across industries, including the automotive, consumer electronics, and medical industries. MEMS are efficiently produced at very high volumes using large-scale semiconduc ...

SPRINGERNATURE2022

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

Sensor and the Beast: Generalised Methods to Recognise Animal Behaviour and Quantify Energy Expenditure Using Inertial Sensors, and Applications

Pritish Chakravarty

How an animal allocates time and energy to different activities has repercussions for its survival, fitness, and response to changing environmental conditions. Fine-scale information on animal behaviour and energy expenditure can help develop better inform ...

EPFL2020

On the calibration aspects of MEMS-IMUs used in micro UAVs for sensor orientation

Jan Skaloud, Philipp Clausen

We introduce a three step procedure to improve attitude determination by MEMS-IMU sensors on board a small UAV. IMU pre-calibration is performed first and only once in the lab; second in a simplified version and for every switch-on in the field. Together, ...

IEEE/ION2020

A Personalized Approach to Improve Walking Detection in Real-Life Settings: Application to Children with Cerebral Palsy

Kamiar Aminian, Anisoara Ionescu, Lena Carcreff

Although many methods have been developed to detect walking by using body-worn inertial sensors, their performances decline when gait patterns become abnormal, as seen in children with cerebral palsy (CP). The aim of this study was to evaluate if fine-tuni ...

2019

Front-crawl stroke descriptors variability assessment for skill characterisation

Kamiar Aminian, Grégoire Millet, Farzin Dadashi

The goal of this article is to character ise front-crawl swimming skill based on variability pattern of technique descriptors. Nine national level and nine recreational swimmers performed three 300 m trials in a 50 m outdoor pool, at 70%, 80% and 90% of th ...

Taylor & Francis2016

Wearable barometric pressure sensor to improve postural transition recognition of mobility-impaired stroke patients

Kamiar Aminian, Anisoara Ionescu, Fabien Massé

Sit-to-stand and Stand-to-sit transfers (STS) provide relevant information regarding the functional limitation of mobility- impaired patients. The characterization of STS pattern using a single trunk fixed inertial sensor has been proposed as an objective ...

Institute of Electrical and Electronics Engineers2016

MEMS Inertial Motion Sensing Watch for Measuring Walking and Running Activities

Kamiar Aminian, Pierre-André Farine, Benedikt Fasel, Sara Grassi Pauletti, Martin Savary, Flavien Bardyn

This paper describes the development of a sport watch, as well as the software and hardware required to design an integrated solution for getting feedback during and after walking and running activities. The developed system is autonomous, so that neither ...

Ieee2016

Automatic Identification and Calibration of Stochastic Parameters in Inertial Sensors

Jan Skaloud, Stéphane Guerrier

We present an algorithm for determining the nature of stochastic processes and their parameters based on the analysis of time series of inertial errors. The algorithm is suitable mainly (but not only) for situations where several stochastic processes are s ...

Wiley Periodicals, Inc2015

Estimation of Front-Crawl Energy Expenditure Using Wearable Inertial Measurement Units

Kamiar Aminian, Grégoire Millet, Farzin Dadashi

Measurement of the energy expenditure is crucial to understand the biophysics of any kind of human locomotion. Despite the promising application of inertial measurement unit (IMU) for quantification of the energy expenditure during human on-land activities ...

Institute of Electrical and Electronics Engineers2014

A Micro Aerial Vehicle with Precise Position and Attitude Sensors

Jan Skaloud, Martin Rehak

This study shows the potential of navigation technologies in the field of position and orientation determination on a micro aerial vehicle (MAV), which weight does not exceed 5 kg. Although the MAV systems feature high flexibility and capability of flying ...

E Schweizerbartsche Verlagsbuchhandlung2014

Measurement of the dynamics in ski jumping using a wearable inertial sensor-based system

Kamiar Aminian, Julien Favre, Julien Chardonnens

Dynamics is a central aspect of ski jumping, particularly during take-off and stable flight. Currently, measurement systems able to measure ski jumping dynamics (e.g., 3D cameras, force plates) are complex and only available in few research centres worldwi ...

Taylor & Francis2014

Generalized Method of Wavelet Moments for Inertial Navigation Filter Design

Jan Skaloud, Stéphane Guerrier, Yannick Stebler

The integration of observations issued from a satellite-based system (GNSS) with an inertial navigation system (INS) is usually performed through a Bayesian filter such as the extended Kalman filter (EKF). The task of designing the navigation EKF is strong ...

Institute of Electrical and Electronics Engineers2014

On-shoe wearable sensors for gait and turning assessment of patients with Parkinson’s disease

Kamiar Aminian, Benoît Mariani

Assessment of locomotion through simple tests such as timed up and go (TUG) or walking trials can provide valuable information for the evaluation of treatment and the early diagnosis of people with Parkinson's disease (PD). Common methods used in clinics a ...

Institute of Electrical and Electronics Engineers2013

A Hidden Markov Model of the Breaststroke Swimming Temporal Phases Using Wearable Inertial Measurement Units

Kamiar Aminian, Grégoire Millet, Farzin Dadashi, Arash Arami, Florent Crettenand

The recent advances in wearable inertial sensors opened a new horizon for pervasive measurement of human locomotion even in aquatic environment. In this paper we proposed an automatic approach of detecting the key temporal events of breaststroke swimming a ...

Ieee2013

Distinguishing Sitting and Standing Activities Using a Wearable Barometric Pressure Monitor

Kamiar Aminian, Anisoara Ionescu, Julien Chardonnens, Fabien Massé, Alan Kevin Bourke

Recent advancements in wearable inertial sensor technology have enabled extensive research into activity classification. However, the distinction between the sitting and standing activities using trunk-worn wearable monitoring systems remains challenging, ...

2013

Development of a standard fall data format for signals from body-worn sensors The FARSEEING consensus

Kamiar Aminian

Objective measurement of real-world fall events by using body-worn sensor devices can improve the understanding of falls in older people and enable new technology to prevent, predict, and automatically recognize falls. However, these events are rare and he ...

Springer Heidelberg2013