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In this paper, preliminary studies are presented to model and design a device that will be part of an exoskeleton actuated by Pneumatic Artificial Muscles (PAM's). The aim of the device is to assist the user in lifting weights, avoiding backbone lesions. The device increases the strength of the operator. It uses sensors to detect the force to be applied and to detect the position of the user's trunk...
Multi-channel neural recording devices are widely used for in vivo neuroscience experiments. Incurred by high signal frequency and large channel numbers, the acquisition rate could be on the order of hundred MB/s, which requires compression before wireless transmission. In this paper, we adopt the Compressed Sensing framework with a simple on-chip implementation. To improve the performance while reducing...
Gait analysis is considered as an important process which has been wildly adopted in many clinical applications to identify and quantify the lower body functioning impairment of hémiplégie patients. On contrary to the traditional measures which were based on manual observation, numerous researches in recent years have been carried out on utilizing modern assistive devices to analyze gait pattern and...
Tracking whole-body human pose in physical human-machine interactions such as bicycling is challenging because of highly-dimensional human motions and lack of inexpensive, effective motion sensors in outdoor environment. In this paper, we present a computational scheme to estimate the whole-body pose in human-machine interaction with application to the rider-bicycle system. The estimation scheme is...
This paper presents the design and control of a multirotor-based aerial manipulator developed for outdoor operation. The multi-rotor has eight rotors and large payload to integrate a 7-degrees of freedom arm and to carry sensors and processing hardware needed for outdoor positioning. The arm can also carry an end-effector and sensors to perform different missions. The paper focuses on the control...
This paper reports on a feasibility study of contactless hand biometrics using an RGB-Depth (RGB-D) camera such as the Kinect v2 prototype. The RGB, depth, and near-infrared (near-IR) spectra provide access to information such as palm print, hand shape, finger joint location, and vein patterns. Extraction of the hand is first done using depth data. The frames with the best palm position are selected,...
We model and simulate a joint design of packet retransmission through a hybrid automatic repeat request (HARQ) protocol at the data link layer and spectrum sensing (SpSe) at the physical layer for cognitive radio networks (CRNs). We assume an adaptive modulation scheme at the physical layer that is incorporated with the SpSe and we focus on the maximization of the average spectral efficiency that...
Maximizing the so-called deflection coefficient is commonly used as an effective approach to design cooperative sensing schemes with low computational complexity. In this paper, an extension to the deflection coefficient is proposed which captures the effects of the quantization processes at the sensing nodes, jointly with the impact of linear combining at the fusion center. The proposed parameter...
Falls are a common cause of injuries and traumas for elderly and could be life threatening. Delivering a prompt medical support after a fall is essential to prevent lasting injuries. Therefore, effective fall detection could provide urgent support and dramatically reduce the risk of such mishaps. In this paper, we propose a hierarchical classification framework based on a novel anatomical-plane-based...
Movement-related diseases, such as Parkinson's disease (PD), progressively affect the motor function, many times leading to severe motor impairment and dramatic loss of the patients' quality of life. Human motion analysis techniques can be very useful to support clinical assessment of this type of diseases. In this contribution, we present a RGB-D camera (Microsoft Kinect) system and its evaluation...
In human gait motion analysis, which is one useful method for efficient physical rehabilitation to define various quantitative evaluation indices, ground reaction force, joint angle and joint loads are measured during gait. To obtain these data as unrestrained gait measurement, a novel gait motion analysis system using mobile force plates and attitude sensors has been developed. On the other hand,...
Cognitive RAdio sensing Based on the joint distribution of pseudo WIShart matrix Eigenvalues (CRABWISE) is a narrowband multi-antenna sensing algorithm, which applies random matrix theory performing near to the optimum detector at the cost of extra complexity. In this paper, CRABWISE is modified such that it is applicable for wideband spectrum sensing in cognitive radio with a single antenna. To that...
An important field in physiotherapy is the rehabilitation of gait. A continuous assessment and progress tracking of a patient's ability to walk is of clinical interest. Unfortunately the tools available to the therapists are very time-consuming and subjective. Non-intrusive, small, wearable, wireless sensors can be worn by the patients and provide inertial measurements to estimate the pose of the...
The concept of Participatory Sensing is centered on individuals that collect data using their smart phones (or other dedicated devices) to track the evolution of their work/living places. The main objective is to use the gathered data in order to enhance the offered quality of life. To maximize people involvement in this process we propose a ferry based architecture to leverage the contributors from...
In the past decade, the population of disability grew rapidly and became one of main problems in our society. The significant amounts of impaired patients include not only lower limb but also upper limb impairment such as the motor function of arm and hand. However, physical therapy requires high personal expenses and takes long time to complete the rehabilitation. In order to solve the problem mentioned...
In the field of gestural action recognition, many studies have focused on dimensionality reduction along the spatial axis, to reduce both the variability of gestural sequences expressed in the reduced space, and the computational complexity of their processing. It is noticeable that very few of these methods have explicitly addressed the dimensionality reduction along the time axis. This is however...
The employment of visual sensor networks in surveillance systems has brought in as many challenges as advantages. While the integration of multiple cameras into a network has the potential advantage of fusing complementary observations from sensors and enlarging visual coverage, it also increases the complexity of tracking tasks and poses challenges to system scalability. A key approach to tackling...
Recently, inertial sensors have been used to measure human movements for the purpose of rehabilitation. In evaluation of motor function for rehabilitation, reference data measured from healthy subjects with inertial sensors is needed. In addition, since lower limbs perform 3-dimensional movements during gait, it is needed to analyze 3-dimensional gait movements. The plot of 3-dimensional vector locus...
Thumb workspace analysis on touch-sensitive screen is used to assist designers in laying control buttons out on screen devices which are thought to be one-handed operated, e.g. mobile phones. Using inertial motion tracking system, kinematic variables as position and orientation for thumb link are obtained. Based on Euler angles, the motion angle for each thumb joint relative to its comfort position...
In an ageing population many people with muscle weakness may benefit from an assisting exoskeleton to improve their mobility. Recent developments in research labs around the world are often complex, not modular and expensive. This paper introduces a novel modular compliant actuator for use in assistive lower limb exoskeletons. It is a low-cost, light-weight, compliant actuator unit that can be easily...
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