6 documents found, page 1 of 1
Deep learning-based approaches for human motion decoding in smart walkers for r...
Gonçalves, Carolina; Lopes, João Pedro Mendes; Moccia, Sara; Berardini, Daniele; Migliorelli, Lucia; Santos, CristinaGait disabilities are among the most frequent impairments worldwide. Their treatment increasingly relies on rehabilitation therapies, in which smart walkers are being introduced to empower the user’s recovery state and autonomy, while reducing the clinicians effort. For that, these should be able to decode human motion and needs, as early as possible. Current walkers decode motion intention using information ga...
A multi-camera and multimodal dataset for posture and gait analysis
Palermo, Manuel Castro; Lopes, João Pedro Mendes; André, João Carlos Vieira Peixoto; Matias, Ana C.; Cerqueira, João José; Santos, CristinaMonitoring gait and posture while using assisting robotic devices is relevant to attain effective assistance and assess the user’s progression throughout time. This work presents a multi-camera, multimodal, and detailed dataset involving 14 healthy participants walking with a wheeled robotic walker equipped with a pair of affordable cameras. Depth data were acquired at 30 fps and synchronized with inertial data...
Biomechanical assessment of adapting trajectory and human-robot interaction sti...
Lopes, João Pedro Mendes; Figueiredo, Joana; Pinheiro, Cristiana Filipa Sampaio; Reis, Luís P.; Santos, CristinaGait disabilities empowered intensive research on the field of human-robot interaction to promote effective gait rehabilitation. Assist-as-needed strategies are becoming prominent, appealing to the users’ participation in their rehabilitation therapy. This study proposes and assesses the biomechanical effects of an adaptive impedance control strategy that innovatively allows adaptability in interaction-based st...
Markerless gait analysis vision system for real-time gait monitoring
André, João Carlos Vieira Peixoto; Lopes, João Pedro Mendes; Palermo, Manuel Castro; Gonçalves, Diogo Barata; Matias, Ana; Pereira, FátimaOn this paper a vision-based contact and markerless method for gait evaluation is proposed, and validated in different experimental setups against commercial motion capture systems (Vicon) and inertial gait analysis tools (GaitShoes). While the development goal is its integration on the ASBGo Smart Walker platform, only an inexpensive depth camera is required. It is shown to have reasonable results when computi...
Towards a human-in-the-loop control for a smart orthotic system
Lopes, João Pedro MendesStroke is the main cause of paralysis. This pathology has provoked a considerable increase of persons with motor impairments. With a therapy focused on each clinical case, the total or partial recovery can be achieved. Powered orthoses have been developed to promote an effective recover, based on repetitive gait training and user’s active participation. Many control approaches have been developed to control the...
Three-link inverted pendulum for human balance analysis: a preliminary study
Lopes, João Pedro Mendes; Moreira, Luís Carlos Rodrigues; Pinheiro, Cristiana Filipa Sampaio; Sanz-Merodio, Daniel; Figueiredo, Joana; Santos, CristinaQuiet standing was, for many years, studied as a single inverted pendulum, based on the principle that the ankle joint is the most important joint of this movement. However, studies show that hip and knee joints perform, as well, an important role in quiet standing. The aim of this paper is to present a three-segment-inverted pendulum model, using Lagrange’s dynamics, to study human quiet stance in the sagittal...