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The main purpose of this paper is to develop a system for the early diagnosis and detection of abnormalities of any patient during gait cycle. A malfunction in the gait cycle leads to pain, and undesirable effects on the bones of the legs due to large forces exerted on specific areas. The gait cycle is divided into two main phases, the stance that is characterized as the contact of the right leg with...
We present an approach for real-time, robust and accurate hand pose estimation from moving egocentric RGB-D cameras in cluttered real environments. Existing methods typically fail for hand-object interactions in cluttered scenes imaged from egocentric viewpoints—common for virtual or augmented reality applications. Our approach uses two subsequently applied Convolutional Neural Networks (CNNs) to...
Human motion tracking, which requires both motion sensing hardware and algorithms based on computer vision, is an enjoyable and active research area with diverse applications. As a depth sensor device Kinect is a famous hardware component for this task. In this work, we studied using more than one Kinect camera to obtain better motion tracking which is applicable for motion capture. We synthetically...
With the development of science and technology, people have higher demand for comfortable seats. However, comfort is a complicated concept to apply in evaluating a sitting chair. There is no established assessment method which could evaluate the sitting chair comfort at present. Most of the current evaluation methods are based on single analysis, and lack multi-analysis of the problem. This paper...
The paper presents an approach to localize human body joints in 3D coordinates based on a single low resolution depth image. First a framework to generate a database of 80k realistic depth images from a 3D body model is described. Then data preprocessing and normalization procedure, and DNN and MLP artificial neural networks architectures and training are presented. The robustness against camera distance...
Human pose estimation is a well-known computer vision problem that receives intensive research interest. The reason for such interest is the wide range of applications that the successful estimation of human pose offers. Articulated pose estimation includes real time acquisition, analysis, processing and understanding of high dimensional visual information. Ensemble learning methods operating on hand-engineered...
This work presents the design of an exergaming interface and an assessment tool for the analysis of physical activities. Typically, exergaming aim to engage the user in physical or cognitive activities by qualitative goals that do not take into account the quantitative assessment of the exercise execution. In this work, authors propose an interactive interface which displays a human avatar and returns...
This paper presents the design of a new exergaming environment consisting of a modular middleware tool aimed at serving for intelligent adventure games. The middleware provides a modular and user-adaptive interface for data exchange between different devices (to date it supports a motion capture camera, a mobile phone, and a VR headset) and Blender. The target group is formed by young people between...
Monitoring the spontaneous kicking patterns of infants can give insight into their development. A computer vision based method for estimating the pose of an infant's leg from range images is presented in this paper. After some manual inputs for initialization, the range data associated with the infant is extracted. The method uses Robust Point Set Registration (RPSR) to fit an articulated model to...
Human action recognition based on joints is a challenging task. The 3D positions of the tracked joints are very noisy if occlusions occur, which increases the intra-class variations in the actions. In this paper, we propose a novel approach to recognize human actions with weighted joint-based features. Previous work has focused on hand-tuned joint-based features, which are difficult and time-consuming...
The paper presents a laboratory robot arm with projection-based safe collision avoidance system which is intended for physical human-robot interaction. This system with new GUI provides also additional functions like movements and individual motors parameters display, so that the man is also informed about the state and activities of the robot arm. This system was designed for teaching, so we have...
People detection and re-identification is a crucial capability for mobile robots working in a human environment, as well as for human-robot interaction. Re-identification systems can be based on the observation of a number of cues, including the analysis of the human body pose, that can be accurately detected analyzing RGB-D data, currently widely used in robot vision. On the other hand, intelligent...
This paper introduces NASA's new free-flying robot, Astrobee, especially focusing on its avionics and perching subsystems. Astrobee is a cube-shaped autonomous robot designed for various missions on the International Space Station (ISS). Its major goal is to offload routine and repetitive work from the ISS crews and assist their science activities. Astrobee is also designed for scientists to use it...
Falls are the major reason of injury and accidental death for older people. It is important to recognize falls early for assistance and treatment. In this paper, a Support Vector Machine (SVM) algorithm for recognition falls and other activities based on skeletal data is proposed. Skeletal data, which will be extracted from capturing human body using a Kinect camera system, are obtained on three persons...
We use compressive sensing in the image and Fourier planes of a spontaneous parametric downconversion source to simultaneously gather the joint position and momentum distributions. We witness entanglement by violating a continuous variable steering inequality.
With the advancement of minimally invasive surgery, there has been increasing interest from both industry and academia in developing flexible serpentine manipulators for surgical robotic systems. Due to internal friction and external disturbance when interacting with complex environment, position and shape of the flexile manipulator cannot be estimated solely by kinematic models. Hence, shape tracking...
In the article we propose a fast and cheap strategy of service robot kinematic parameters calibration. Our method is based on sensors (cameras in particular) that are already mounted on the robot and inexpensive markers, that are easy to fix on the robot arms. We developed the method to compute the impact of manipulator velocity on markers localization error in camera image. Thanks to our method,...
In this paper the Null-Space based Behavioural control is used to coordinate the motion of the highly redundant kinematic structure of a humanoid robot. A set of elementary behaviours is considered, which are differently composed in nature and priority so as to accomplish some typical basic actions. A sequence of actions is then considered in a simulation case study to execute a grasp-move-and-release...
Laparo-endoscopic single-site surgery (LESS) with its unique advantages has become the focus in the minimally invasive surgery. However, the existing LESS robots are mostly given open loop control for its arm, which is difficult for the doctor to handle the surgical instruments. In this paper, A magnetic anchor robot for LESS was designed, which can be inserted into peritoneal cavity through just...
Hap tic and robotic interfaces are recently gaining momentum to be pervasively integrated in modern everyday life. In fact, they can be employed in several different fields, ranging from manipulation of small and dangerous objects to rehabilitation, assistive and service technologies, and are also integrated in mission critical systems. Modern research is rapidly shifting to investigate novel and...
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