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Among most existing gait rehabilitation robots, it is difficult to find adequate devices for gait rehabilitation of chronic stroke patients who can already stand and move but still need to rehabilitate the affected lower limb through simple, compact, and easy-to use devices. This paper presents a novel haptic based gait rehabilitation system (HGRS) which has the potential to provide over-ground gait...
The assistance to people during rehabilitation has to be adapted to their needs. Too little help can lead to frustration and stress in the user; an excess of help may lead to low participation and loss of residual skills. Robotic rollators may adapt assistance. The main challenge to cope with this issue is to estimate how much help is needed on the fly, because it depends not only on the person condition,...
Commonly used Global Navigation Satellite Systems (GNSS) are inappropriate as Location Based Services (LBS) in indoor environment. Therefore research teams are developing different systems, which can be used as a suitable alternative. One of options is to use Inertial Navigation System (INS) which consists of inertial sensors and mathematic procedures. This concept has been known for a long time,...
As sensor-rich mobile devices became a commodity, more opportunities appeared for the creation of location-aware services. While GPS is a well established solution for outdoor localization, there is still no standard solution for localization indoors. This paper presents a novel accurate indoor positioning mechanism that is meant to run in common smartphones to be a readily and widely available solution...
There are many methods for indoor positioning. These methods are divided into the relative localization and absolute localization. In the relative localization, one widely used method is Pedestrian Dead Reckoning (PDR). Relative localization estimates the moving distance, orientation, and height of the pedestrian. However, relative localization has a problem caused by an accumulated error: the longer...
A Map aided Pedestrian Dead Reckoning (PDR) algorithm is proposed to mitigate the drift errors and step detection limitations of pedestrian dead reckoning algorithm with handheld sensors in indoor and outdoor spaces. Specific to this context is the changing lever-arm between the handheld device and the pedestrian center of mass that introduces a misalignment between the inertial sensors and the walking...
Vehicle accidents are growing extremely lack of control over the system during dark. The unexpected crossing of objects, animals or humans on the highways makes the driver make indecisive actions due to the loss of his cognition at that state, results in loss of control of the vehicle which causes accidents. Nowadays, sensor technology is moving forward to play several roles in order to serve various...
Freezing of gait (FOG) is a symptom of advanced Parkinson's disease (PD) that affects the quality of life of these patients. This paper presents a new low-cost stimulus system to support the patient response to FOG episodes by using a vibratory cue. Freezing episodes are automatically detected by using an inertial measurement unit (IMU) placed on the patient's right ankle and a pressure sensor embedded...
To develop a mechanism that will smoothly support the standup motion of elderly people, we reconsidered the operation-start timing of our previously developed device using a measurement apparatus. In the experiments with elderly subjects, the mechanism did not work as well as it did with younger subjects. For younger subjects, the floor's reaction force decreased when the support mechanism was used,...
Recent improvements in virtual reality technology and head-mounted displays have led to a number of novel and innovative applications in entertainment, education, science and healthcare. The primary goal in most of these applications is to give the user a sensation of being part of the virtual reality. This focus on presence or immersion requires to create a connection between the user and the virtual...
Festinating gait is one of the most commonly seen motor symptoms of Parkinson's Disease patients. In this research, an accelerometer-based sensing system implemented on a vest is used to detect the behavior of festinating gait. The detection algorithm is based on the analysis of gait symmetry from the data measured by accelerometers. Specific indices were proposed to evaluate the severity of festinating...
Inertial sensors are used widely for detecting different contexts. However, noise components at high frequencies can disturb the recognition. In this paper, the measurements are made with multi IMU (MIMU) which combines the results of 32 inertial sensors. Averaging of individual sensor outputs reduce the noise level significantly and enables higher resolution. As an example case, we present application...
Currently, conventional indoor localization schemes mainly leverage WiFi-based or Bluetooth-based schemes to locate the users in the indoor environment. These schemes require to deploy the infrastructures such as the WiFi APs and Bluetooth beacons in advance to assist indoor localization. This property hinders the indoor localization schemes in that they are not scalable to any other situations without...
This paper presents a new method to estimate 2D displacement based on the step-and-heading algorithm for three indoor motion modes: walking, jogging and running. Inertial measurement unit (IMU) is utilized for heading estimation based on indirect Kalman filter and for step detection as well. The IMU is placed at the lower back and an inverted pendulum is exploited to model the walking pattern, and...
Falls are a major health problem in our aging society. Fall detection systems are aimed at automatically sending an alarm in case of falls. Unfortunately most of the systems currently available, which use accelerometric sensors, are characterized by a relatively large number of false alarms. In fact, many activities of daily living may produce fall-like acceleration signals. We propose a method that...
The main focus of this paper is to present control and automation aspects of the remotely operated CRD100 seafloor drill. The CRD100 is a fourth generation, state-of-the-art robotic seafloor drill that is directly deployed onto the seabed. It is designed to drill, case, core, and collect geotechnical sampling data to a depth of 65m below the seabed at 3000m beneath the water surface. The system must...
Analysis and recognition of motion patterns from data acquired by body-worn inertial sensors is an emerging technology in sports. In this paper we propose an effective method for recognition of fencing footwork using a single body-worn accelerometer. We present a challenging dataset consisting of six actions, which were performed by ten persons and repeated ten times by each of them. We propose a...
The research reported in this paper is related to an assistive technology that may be used by healthcare services for elderly and disabled people. A system for non-intrusive monitoring of the movements of such persons in their home environment, based on impulse-radar sensors, is adressed. A large family of new procedures for the estimation of position and walking velocity of a monitored person, on...
In the past few years, smart mobile devices have become ubiquitous. Most of these devices have embedded sensors such as GPS, accelerometer, gyroscope, etc. There is a growing trend to use these sensors for user identification and activity recognition. Most prior work, however, contains results on a small number of classifiers, data, or activities. We present a comprehensive evaluation often representative...
Indoor localization is an important primitive that can enable many ubiquitous computing applications. In this paper, we choose the iBeacon as landmark and improve the localization scheme of iBeacon and inertial navigation through crowd sensing. Specifically, we use crowd sensing to design a parameter learning algorithm for device diversity. Furthermore, we take advantage of crowd sensing to collect...
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