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This paper presents an approach of human gait modeling and prediction using fuzzy inference system. In this system, lower limbs motion prediction is simplified by introducing fuzzy knowledge base to describe the whole motion. Our fuzzy knowledge base predicts contralateral lower limb joints angles. The concept of fuzzy knowledge is based on fuzzy membership function that represents knee angle and...
In this paper, a scheme is proposed for solving segmentation problem when people engage in body contact in a video sequence. First, the body parts belonging to each interacting person are extracted using the deformable triangulation technique. The color blobs of each person are learned by Gaussian mixtures model on the fly before the person is interacting with another. Finally, those learned blob...
This paper presents a new method on generating realistic human animation of various styles with given step constraints and a specific skeleton. Given a set of normal walking data captured from different subjects, a hierarchical geostatistical model is automatically learned to encode variety of walking styles by representing human body as a hierarchy of joint groups. For each child hierarchy level,...
To detect human sex from complex background, illumination variations and objects by machine is very difficult but important for adaptive information service. In this research, we present a preliminary design and experimental results of gender recognition from walking movements that utilizes gait energy image(GEI) with denoised energy image(DEI) pre-processing as support vector machine(SVM) classifier...
The bipedal spring-mass model embodies important characteristics of human walking, and therefore serves as an important starting point in studying human-like walking for robots. In this paper, we propose to extend the bipedal spring-mass model with variable leg stiffness and exploit the potential of this model in order to mimic the human capability to continuously adapt the leg stiffness to different...
Investigations of the biomechanical parameters of robotic walker assisted gait are needed to allow modern rehabilitation strategies and to improve further technological developments. In this study, spatio-temporal gait parameters were assessed during normal and assisted ambulation with the Simbiosis walker model, a robotic walker with forearm supports. Six infra-red video cameras, integrated in a...
We present a novel sensing paradigm of measuring human gait. The goal of the research is to achieve low-cost gait biometrics systems with minimum data throughput for various sensing modalities. The binary measurements of the system are achieved by using both (1) periodic and (2) pseudo-random sampling structures. As a result, either static or dynamic gait features can be estimated from a one-bit data...
In this research project we present the design and construction of a biped robot based on dynamic walking. The main objective of this research is the assimilation of technology in the field of dynamic walking robots, therefore, we built a prototype based on a previously built robot developed at Delft University created by Martjin Wisse. The reason for performing this research is to have a starting...
This paper focused on unique concept of extracting the gait features of walking human from sequences of silhouette images for recognition purpose. Discrete Cosine Transform (DCT) was evaluated as feature extraction solely followed by combination with Principal Component Analysis (PCA) as feature selection. Then, the entire feature vectors that were extracted are used as input to classify using artificial...
This paper presents a theoretical design of a transfemoral prosthesis based on physical asymmetries. Breaking the mold of current prostheses, we propose a general prosthetic leg design in which the knee location is shifted off its traditional knee line. The objective is to find an above-knee prosthetic design for which the overall mass is decreased, especially the below knee portion, while still exhibiting...
The paper makes a case for expanding the range of words that Computing With Words typically considers to, eventually, all the words in a natural language, thus accounting accurately for the inherent vagueness of natural language meaning and creating an overlap with computational semantics. The claim is illustrated with examples of a few English nouns and verbs rather than the usual adjectives and...
The detection and monitoring of human motion with radar has numerous applications in surveillance, urban military operations, search-and-rescue, and other areas. Recent studies have shown that movements of humans generate unique micro-Doppler signatures that can be exploited to classify human motions. This motivates an improved understanding of human Doppler signatures. Numerous simulations and measurements...
This paper presents the first steps toward going from human data to formal controller design to experimental realization in the context of underactuated bipedal robots. Specifically, by studying experimental human walking data, we find that specific outputs of the human, i.e., functions of the kinematics, appear to be canonical to walking and are all characterized by a single function of time, termed...
Robotic studies have suggested a contribution of limit-cycle oscillation of the neuro-mechanical periphery to human walking by demonstrating stable bipedal robotic gaits with minimal actuation and control. As behavioral evidence of limit-cycle oscillation in human walking, we recently reported entrainment of human gaits to mechanical perturbations. We observed synchronization of human walking with...
This paper presents a unified probabilistic framework to tackle two closely related visual tasks: pedestrian segmentation and pose tracking along monocular videos. Although the two tasks are complementary in nature, most previous approaches focus on them individually. Here, we resolve the two problems simultaneously by building and inferring a single body model. More specifically, pedestrian segmentation...
Elastic elements in prosthetic devices can help to reduce peak power (PP) and energy requirements (ER) for the actuators. Calculations showed that it is impossible with current commercial motor technology to mimic human ankle behavior in detail for higher walking and running speeds with single motor solutions using a Serial Elastic Actuator (SEA). Concerning this result we checked the requirements...
In this paper, we propose a framework for generating coordinated periodic movements of robotic systems with external inputs. We developed an adaptive pattern generator model that is composed of a two-factor observation model with a style parameter and phase dynamics with a phase variable. The style parameter controls the spatial patterns of the generated trajectories, and the phase variable controls...
Radar micro-Doppler signatures (MDS), which show how different parts of the target move, can be utilized for security and safety applications like detection and assessment of human activity at airports, nuclear power plants etc. We have evaluated a MDS classification method on measured data at 77 GHz. The important part of the method is the feature extraction, which is based on selecting the strongest...
The ability to measure human movement accurately forms an essential part of a clinical assessment, thus allowing the efficacy of therapeutic interventions to be determined. The most commonly used clinical method for assessing human movement is goniometry, motion capture system, Electromagnetic tracking systems and so on. There are some essential limitations in each method. Inertial sensors such as...
We present a new gait identification method based on dynamic time warping (DTW), as video surveillance system requires high accuracy and precision. It could reduce computational cost of gait recognition, significantly improve the recognition rate for gait and meet the demand of video surveillance. The characters of human appearance have been utilized to extract entire binary image of human silhouette...
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