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Research in humanoid robotics in recent years has led to significant advances in terms of the ability to walk and even run. Yet, despite the general achievements in locomotion and control, energy efficiency is still one important area that requires further attention, especially as it is one of the major steeping stones leading to increased autonomy. This paper examines, and quantifies, the energetic...
Ensuring that an interaction is initiated with a particular and unsuspecting member of a group is a complex task. As a first step the robot must effectively, expediently and reliably recognise the humans as they carry on with their typical behaviours (in situ). A method for constructing a scale and viewing angle robust feature vector (from analysing a 3D pointcloud) designed to encapsulate the inter-person...
This study investigates and acts as a trial clinical outcome for human motion and behaviour analysis in consensus of health related quality of life in Malaysia. It was developed to analyse and access the quality of human motion that can be used in hospitals, clinics and human motion researches. It aims to establish how widespread the quality of life effects of human motion. Reliability and validity...
This paper presents an approach to the development of bipedal robotic control techniques for multiple locomotion behaviors. Insight into the fundamental behaviors of human locomotion is obtained through the examination of experimental human data for walking on flat ground, upstairs and downstairs. Specifically, it is shown that certain outputs of the human, independent of locomotion terrain, can be...
Although current humanoid controllers can rely on inverse kinematics or dynamics of the full humanoid system, powered prosthetic legs or assistive devices cannot, because they do not have access to the full states of the human system. This limitation creates the need for alternative control strategies. One strategy is to embed fundamental knowledge about legged dynamics and control in local feedback...
This paper describes a walking stabilization control based on gait analysis for a biped humanoid robot. We have developed a human-like foot mechanism mimicking the medial longitudinal arch to clarify the function of the foot arch structure. To evaluate the arch function through walking experiments using a robot, a walking stabilization control should also be designed based on gait analysis. Physiologists...
In this study, basic physical activities are classified using 3-axis accelerometer signals. The system is mainly proposed for mobile devices and basically objected to detect whether a person carrying this hardware is walking, running, or travelling in a car or bus. The developed system considers the accelerometer signals in constant bins and performs a real-time classification. The proposed system...
Human identification at a distance has recently gained growing interest from computer vision researchers. This paper presents an automatic gait recognition system that recognizes a person by the way they walk. The gait signature is obtained based on the angle and the contour of the silhouette. For each image sequence, background subtraction is used to extract moving silhouettes of the walker. The...
An extensive amount of research is being undertaken to gracefully solve the Human action recognition problem. To this end, in this paper, we introduce the application of self- similarity surfaces for human action recognition. These surfaces were introduced by Shechtman & Irani (CVPR'07) in the context of matching similarities between images or videos. These surfaces are obtained by matching a...
The concepts of immersion and presence focus on the environment in a virtual environment. We instead focus on embodied conversational agents (ECAs). ECAs occupy the virtual environment as interactive partners. We propose that the ECA analogues of immersion and presence are physicality and social presence. We performed a study to determine the effect of an ECA's physicality on social presence and eliciting...
This paper describes a sensor-fusion-based wireless walking-in-place (WIP) interaction technique. We devised a new human-walking detection algorithm that is based on a sensor-fusion using both acceleration and magnetic sensors integrated within a smart phone. Our sensor-fusion approach can be useful for the cases when the detection capability of a single sensor is limited to a certain range of walking...
Inaccurate perception of distances is a known problem within virtual environments. We hypothesize that the inclusion of virtual characters within these environments can improve an observer's ability to judge distances and achieve accurate spatial understanding. We have conducted an empirical study using a desktop display of a small scale environment to evaluate the validity of this concept. We investigated...
Comparative studies involving CAVE systems inevitably have some confounding factors. Except for the six-sided CAVE systems, the missing back wall(s) of a CAVE system can be a confounding factor when virtual and physical navigation interaction techniques are compared, regarding the viewpoint rotation. We introduce a virtual black wall as a way to avoid a possible confounding factor in comparative studies...
In body area network (BAN) systems, BAN radio devices, such as sensors or access points used for data collection and sending, may be mounted on the waist. The shadowing effects caused by the movement of the arms result in a further severe gain reduction [1]. It is anticipated that the moving characteristics of the arms have a number of differences unique to individual humans, such as asymmetrical...
The anti-gravity gait training system is a rehabilitation training device for patients with neurological impairments and elderly people having problems with walking. We are developing a unloading body weight device for the gait training system. Unloading device is a necessary part because the user of this system have a muscular skeletal weaknesses. We want to control the unloading forces to be steady...
It is necessary for a blind person to know the locations of the pedestrians or moving objects around him/her on a walk road for his/her safe walking. This paper proposes a system for detecting pedestrians or moving objects in front of a person on a walk road by a camera mounted on his/her body. The system judges if a moving object in front of the person is going to hit him/her in the near future by...
This paper describes the mechanism and the control system of a koala robot. It is extremely important for this kind of pet robot to be familiar with a human being. The robot can express various types of feelings by using body motions, eye motions, and sounds. It consists of 14 DOFs such as 2-DOF in the neck, and a 3-DOF in each leg. Its height is 233[mm], and its weight is 2.24[kg]. Several types...
In this article, a novel motion model-based particle filter implementation is proposed to classify human motion and to estimate key state variables, such as the motion type, i.e. running or walking, and the subject's height. Micro-Doppler spectrum is used as the observable information. The system and measurement models of the human movements are built using three parameters (relative torso velocity,...
Novel target association approach for indoor human tracking is designed for the multistatic ultra-wideband (UWB) radar. A new concept, namely range-Doppler video sequence, is proposed to describe the slow-time evolution of human movement in range-Doppler domain. We apply the video time density function to model human movement dynamics of range-Doppler video sequences in slow time. Sliding window correlation...
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