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This paper presents a highly integrated underactuated anthropomorphic finger with three joints and two DOFs using a novel coupled-adaptive linkage mechanism. The finger has two main motion modes: coupled motion in free space and self-adaptive motion when contacting with the object. Compared with conventional prosthetic finger, the combination of these two motion modes improves the anthropomorphic...
This paper describes an evaluation system, which can visually display and evaluate the user's performance in his physical rehabilitation. The system is composed of a body sensor network with low cost MEMS inertial measurement units (IMUs), which is capable of measuring the orientations of all body joints. Every joints orientation is represented relative to its parent joint according to human skeleton...
Gesture as a natural and efficient interactive mode, which has been widely used in the field of human-computer collaboration, as the present existing gesture acquisition method is difficult to meet the users' immersion experience and ensure the real-time requirements, in this paper, we design a wearable interactive system which can meet the need of real-time hand gesture acquisition and 3D display...
The ever-increasing demands of wireless traffic call for continuously growing the wireless network capacity or throughput. Carrier sensing threshold adaptation and transmission rate adaptation, two efficient mechanisms improving the capacity of ad hoc network, have attracted much attention in recent years. However, simply adopting either mechanism can hardly meet the expectation that optimizing the...
A novel pansharpening method is proposed for creating a fused image of high spatial and spectral resolutions through merging a panchromatic (PAN) image with a multispectral (MS) image. To replace the patch pairs sampled from the images directly as the dictionary pairs, a joint learning model is proposed to learn a pair of compact dictionaries. Meanwhile, instead of restricting the coding coefficients...
In this paper, we present experiments on the design of a novel movement analysis system for real-time balance assessment in the frail elderly. Using the Microsoft Kinect sensors, we capture TUG (Timed Up and Go) tests and mainly analyze the transfer from sitting-to-standing and back-to-sitting which represent two of the most commonly executed human movements. Nine spatio-temporal parameters were extracted...
We propose a method for multisensor-multitarget tracking with excellent scalability in the number of targets (which is assumed known), the number of sensors, and the number of measurements per sensor. Our method employs belief propagation based on a “detailed” factor graph that involves both target-related and measurement-related association variables. Using this approach, an increase in the number...
Joint target tracking and classification is a challenging problem where the class of a target must be estimated in addition to its kinematic states, such as position and velocity. This problem is of special importance both in civilian and in military domain, where target classification plays an important role in the decisions that an operator makes. Moreover, when several sensing options are available...
In this paper, a pneumatically-driven walking assistive device is proposed. Since the structure of the exoskeleton is different from users' legs, it is not required to attach the exoskeleton links to the user's knee and adjust the length of the links. McKibben type pneumatic artificial muscles are adopted as the actuators, realizing back-drivability. We proposed a control method with the detection...
Functional electrical stimulation (FES) has shown effectiveness in restoring movement post-stroke when applied to assist participants' voluntary action during repeated, motivating tasks. Recent clinical trials have used advanced controllers that precisely adjust FES to assist functional reach and grasp tasks, showing significant reduction in impairment. The system reported in this paper advances the...
This paper introduces a lightweight knee assisting robot called “COWALK-M” and a control methodology using estimated ground slope and intended walking speed of the wearer. It is designed to assist stroke patients suffering from mild hemiplegia to move the paretic knee joint during Activities of Daily Living(ADL). The COWALK-M has various kinds of sensors including pressure sensors under the soles...
Increasing research has been conducted into the use of robotic devices for neurorehabilitation. One advantage of these devices over traditional rehabilitation is the availability of measured data, which can be used to inform potential patient-specific protocol for recovery or simply to provide higher frequency feedback to the patients and therapists. It has previously been identified that such devices...
In this paper, a networked-based rehabilitation system is introduced for lower-extremity tele-rehabilitation. In order to enable high-level motion planning of the rehabilitation robot in real-time for enhanced safety and appropriate human-robot interactions, a time series model is proposed to capture the kinematics of knee joint rotations. A major challenge in such a system is that measurement data...
In cognitive radio, spectrum sensing is necessary to timely find the temporarily unoccupied spectrum of the primary users (PUs) in time, frequency, code, and spatial domains. In this paper, we consider a primary network sharing a given frequency band with a cognitive network and perform spectrum sensing in space and frequency domain. With the exploitation of the antenna array equipped at the secondary...
In this paper, individual muscular forces of the lower limb are estimated in real-time by inverse dynamics-based static optimization with a wearable sensor system. The wearable sensor system consists of inertial measurement units (IMUs) and manually developed ground reaction force (GRF) sensors. Joint torques of the lower limb during walking are calculated in real-time by applying inverse dynamics...
Slip and fall is one of the major causes for human injuries for elders and professional workers. Real-time detection and prediction of the foot slip is critical for developing effective assistive and rehabilitation devices to prevent falls and train balance disorder patients. This paper presents a novel real-time slip detection and prediction scheme with wearable inertial measurement units (IMUs)...
In this paper we describe preliminary results obtained in the framework of a project selected in the context of the joint Announcement of Opportunity for the synergic use of Cosmo-SkyMed and RADARSAT-2 data. The project involves the analysis of SAR images of urban areas and, in particular, the synergic use of Cosmo/SkyMed and RADARSAT-2 data.
This paper presents a registration method for images with global illumination variations. The method is based on a joint iterative optimization (geometric and photometric) of the L1 norm of the intensity error. Two strategies are compared to directly find the appropriate intensity transformation within each iteration: histogram specification and the solution obtained by analyzing the necessary optimality...
Emerging wireless sensor networks (WSNs) aim to overcome current needs for additional backbone infrastructure in mobile networks. Confronted with enormous requirements in terms of spectrum and energy efficiency, WSNs have been shown to benefit from distributed source coding (DSC) by means of multi-route redundancy. However, DSC in WSNs yields low performance regarding the correlation estimation of...
Joint spectrum sensing and direction of arrival (DOA) estimation is often necessary in communication applications, such as Cognitive Radio (CR). In this paper, we consider joint DOA and carrier frequency recovery of several transmissions as well as signal reconstruction from sub-Nyquist samples to overcome the sampling rate bottleneck of the wideband signals a CR typically deals with. We present two...
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