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A human height is one property used in conjunction with others for person identification. The method of human height estimation, using only one camera and some simple settings on the floor, is proposed to automatically determine the vertical distance of human head from the ground in real-time. Bimodal background subtraction technique helps locate the position of head top and lower foot bottom in each...
We present a method to improve the accuracy of a foot-mounted, zero-velocity-aided inertial navigation system (INS) by varying estimator parameters based on a real-time classification of motion type. We train a support vector machine (SVM) classifier using inertial data recorded by a single foot-mounted sensor to differentiate between six motion types (walking, jogging, running, sprinting, crouch-walking,...
The purpose of this study is to develop a gait retraining feedback system based on wearable sensors for the gait training and the recovery of knee osteoarthritis patients. The system is mainly composed of one motion sensor, six plantar pressure sensors, vibrator and upper computer. The foot progression angle of subject measured by the motion sensor was transmitted to a upper computer through a WIFI...
Human bodies and movements exhibit inherent symmetry. However, an important class of everyday movements, such as walking, does not maintain symmetry at every time instance. The symmetry in these movements is a spatiotemporal glide-reflection symmetry. The ability to measure this type of symmetry will provide us opportunities for various computer-aided applications including health monitoring, rehabilitation,...
In this paper, we propose a real-time control method for skating motion of humanoid robots. There are three problems for skating motion: (1) keeping dynamic balance, (2) adequately controlling foot force to suppress slipping at the foot, (3) controlling full-body motion in real-time. For solving these problems, we propose the Skating Motion Generator and the Skating Motion Stabilizer. In the Skating...
In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the DCM trajectory is generated, consistent with the predefined footprints. Furthermore, a swing foot trajectory modification strategy is proposed to adapt the landing point, using DCM measurement. In order to apply the generated...
A real-time gait event detection based on a single sensor unit fixed onto the head is suggested in this paper. Head acceleration is measured by an inertial measurement unit in order to detect two gait events. When heel strike and toe off occur, the impact is physically generated between the foot and the ground, which are transmitted to the head through the different physiological structures directed...
Combining the behavioral model of "Face-changing Sichuan Opera", one of the traditional local operas, with Augmented Reality(AR) technology, we merge the traditional culture with modern technology and develop the digitalized "Face-changing Sichuan Opera" system. We design two subsystems based on webcam and Kinect sensor respectively, and in this paper, introduce the related techniques...
Electromyography-based gesture classification methods for control of advanced upper limb prostheses are limited either to individuals with amputations distal to the elbow or to those willing to undergo targeted muscle reinnervation surgery. Based on the natural similarity between gestures of the lower leg and the arm and on established methods in electromyography-based gesture classification, we propose...
Phase measurement is a key problem in power ankle control system because the traditional control methods is complex mechanical systems and high complicate computation systems. In this article aims to develop of a straightforward phase measurement control system using two Flexi-Force sensor SR1 and SR2, SR1 installed under the toe and sensor SR2 installed under the heel. Experiment with artificial...
Human foot motion localization using inertial measurement unit (IMU) is a challenging problem due to IMU's drift and noise. This paper presents a localization algorithm, which can accurately estimate the position, velocity and attitude of human foot motion based on IMU measurements. The proposed algorithm works efficiently in a real-time and dynamic speed manner. A dynamic Gait Phase Detection (GPD)...
Temporal abnormalities in events and gait phases of human walking can be potentially applied in the gait performance analysis. In this study is presented a novel real-time gait events detector that continuously considers the previous gait motions in order to improve this gait analysis. The detection of heel-strike and toe-off events is performed by a finite state machine (FSM), through decision rules...
Pedestrian dead reckoning uses inertial sensors carried by pedestrians to track their positions, wherein step detection and step length estimation play the key roles. Compared with pioneer researches using body-mounted sensors, smartphone-based dead reckoning has more flexibility but raises more challenges. To reduce the negative influence of sensor noise and varying walking speed, the paper proposes...
Smartphones are particularly suitable for health related applications during daily living, given their diffusion into society and computational capabilities. We proposed a smartphone application for real-time step length estimation, using inverted pendulum model. We tested the proposed solution on 5 healthy subjects, comparing the smartphone estimation with a stereophotogrammetric system.
This paper describes a practical method to construct real-time controllers to achieve locomotion and manipulation tasks with a humanoid robot. We propose a method to insert emergency stop functionality to each layer to avoid robot's falling down and joint overloads even if recognition and planning error exist. We explain implementation of multi-layered real-time controllers on HRP2 robot and application...
An important aspect of gait analysis is the measurement and interpretation of the Ground Reaction Force (GRF) characteristics. These measurements are important for the calculation and analysis of joint moments and forces, in addition to its assistance in natural and artificial walk control. Usually, a force platform, requiring a large space, is used to obtain these measurements but only few steps...
This paper presents a trajectory generator for humanoid robots that can simultaneously consider 3D position tracking of the center-of-mass (COM), reactive stepping (foot positions are non-constant), zero-moment-point (ZMP) constraints as well as position constraints.
Intelligent assistive devices using powered actuators are used to restore the gait patterns of amputees or patients with lower limb pathologies. These devices use feedback systems to drive actuators accurately at the right instances during gait. As such, information about gait phases in real-time is necessary to diagnose and/or to provide feedback to assistive devices. This paper presents a method...
Tracking human movements and locomotion accurately in real time — e.g. for providing real walking in virtual environments — requires expensive tracking systems which need a lot of time to install. Furthermore, the costs typically increase with the size of the tracked space as these systems rely on external references. This poster presents an approach to significantly reduce costs for tracking human...
In this paper, we present a low-cost IMU-based system, Pedalvatar, which can capture the full-body motion of users in real-time. Unlike the prior approaches using the hip-joint as the root of forward kinematic model, a foot-rooted kinematic model is developed in this work. A state change mechanism has also been investigated to allow dynamically switching the root of kinematic trees between the left...
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