Article
Biotechnology & Applied Microbiology
Daisuke Ichimura, Hiroaki Hobara, Genki Hisano, Tsubasa Maruyama, Mitsunori Tada
Summary: This study investigated how individuals with unilateral transtibial amputation control their left and right lower limbs during locomotion and found that they can reacquire locomotion by modifying sensory feedback parameters. These results are important for assessing and rehabilitating the walking ability of individuals with unilateral transtibial amputation.
FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
(2023)
Article
Neurosciences
Ariana Z. Turk, Mitchell Bishop, Afuh Adeck, Shahriar SheikhBahaei
Summary: In this paper, we review the location, function, and role of astrocytes in central pattern generators (CPGs) involved in locomotion, respiration, and mastication, and propose that astrocytes may also have a significant role in vocal production CPG.
Article
Biology
Jesus A. Tapia, Argelia Reid, John Reid, Saul M. Dominguez-Nicolas, Elias Manjarrez
Summary: This study uses a mathematical model to demonstrate the potential transition of post-scratching locomotion in cats through shared neuronal circuits. The model replicates the experimental observations, revealing the mechanism of transition between two rhythmic movements and the flexible connectivity in the spinal cord circuitry.
Review
Mathematics, Interdisciplinary Applications
Yu. A. Tsybina, S. Yu. Gordleeva, A. I. Zharinov, I. A. Kastalskiy, A. V. Ermolaeva, A. E. Hramov, V. B. Kazantsev
Summary: Neuro- and biomorphic approaches in intelligent robotic systems have attracted attention from researchers and engineers. Fish-like swimming robots are simple candidates to reproduce biological mechanics of movement. However, current robotic solutions are still lacking in speed performance, power efficiency, and maneuverability.
CHAOS SOLITONS & FRACTALS
(2022)
Article
Robotics
Nelson Rosa, Kevin M. Lynch
Summary: This article introduces a topological method for generating families of walking gaits for underactuated biped walkers, utilizing implicitly defined feasible periodic gaits within a state-time-control space. Equilibria are used as reliable templates for constructing gait families on several 2-D and 3-D biped walkers.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Neurosciences
Mathias Thor, Beck Strohmer, Poramate Manoonpong
Summary: Existing adaptive locomotion control mechanisms for legged robots are typically focused on individual types of adaptation and are seldom combined. This work introduces a CPG-based locomotion controller integrating both frequency and motor pattern adaptation mechanisms, resulting in high energy efficiency and precision in locomotion. The combination of frequency and motor pattern mechanisms shows promise for further studies on adaptive locomotion control.
FRONTIERS IN NEURAL CIRCUITS
(2021)
Article
Critical Care Medicine
Johannie Audet, Jonathan Harnie, Charly G. Lecomte, Stephen Mari, Angele N. Merlet, Boris I. Prilutsky, Ilya A. Rybak, Alain Frigon
Summary: Studies have shown that adult cats with low-thoracic spinal transection can still perform quadrupedal locomotion on a treadmill, albeit with weakened and more variable coordination between the forelimbs and hindlimbs. Changes in muscle activity reflect spatiotemporal changes in the locomotor pattern.
JOURNAL OF NEUROTRAUMA
(2022)
Review
Biochemistry & Molecular Biology
Jessica Ausborn, Natalia A. Shevtsova, Simon M. Danner
Summary: Neuronal circuits in the spinal cord play a crucial role in controlling locomotion, integrating supraspinal commands and afferent feedback signals. Computational modeling has complemented experimental studies by providing mechanistic rationales and testable predictions, leading to fundamental insights. With recent advances in molecular and genetic methods, manipulating specific elements of the spinal circuitry has become possible, allowing for investigations into mechanisms at the level of genetically defined neuronal populations.
INTERNATIONAL JOURNAL OF MOLECULAR SCIENCES
(2021)
Article
Engineering, Multidisciplinary
Zihan Xu, Qin Fang, Chengju Liu, Qijun Chen
Summary: A compliant-resistant balance-control method is proposed for biped robots to maintain balance under external forces, inspired by human behaviors. A model-free trajectory generator based on the central pattern generator (CPG) is designed to generate compliant-resistant human-like behavior. The control strategy can generate defined pulse signals to realize compliant-resistant balance control for biped robots. The proposed control strategy is verified in the NAO simulation environment.
Article
Neurosciences
Hari T. Kalidindi, Frederic Crevecoeur
Summary: Recent studies have focused on how closed-loop models of movement control need to be updated when environmental parameters change. Rapid control updates enable flexible modifications of current actions and online decisions. When movement dynamics change, humans use different strategies based on adaptation and modulation of controller sensitivity.
CURRENT OPINION IN NEUROBIOLOGY
(2023)
Article
Engineering, Biomedical
Andrea Di Russo, Dimitar Stanev, Anushree Sabnis, Simon M. Danner, Jessica Ausborn, Stephane Armand, Auke Ijspeert
Summary: This study presents a physiologically plausible model to investigate spinal control and modulation of human locomotion. The model consists of two coupled central pattern generators (CPGs) and a reflex-based network simulating low-level reflex pathways and Renshaw cells. By optimizing the open parameters, the controller can naturally generate human kinematics and muscle activation.
JOURNAL OF NEURAL ENGINEERING
(2023)
Article
Neurosciences
Jonathan Harnie, Johannie Audet, Stephen Mari, Charly G. Lecomte, Angele N. Merlet, Gabriel Genois, Ilya A. Rybak, Boris I. Prilutsky, Alain Frigon
Summary: The study found that the way of hindlimb locomotion plays an important role in modulating and changing the hindlimb pattern after spinal cord injury in animal models.
FRONTIERS IN SYSTEMS NEUROSCIENCE
(2022)
Article
Computer Science, Artificial Intelligence
Antonis Sidiropoulos, Dimitrios Papageorgiou, Zoe Doulgeri
Summary: In this study, a novel framework is proposed for generalizing trajectory patterns and considering kinematic constraints. The framework is based on Dynamic Movement Primitives (DMP) encoding method, and incorporates time-varying target and time duration, via-point, and obstacle constraints. Simulation experiments and comparisons with other methods demonstrate the feasibility and effectiveness of the proposed framework.
Article
Biochemical Research Methods
Justinas Cesonis, David W. Franklin
Summary: This study investigates whether context-dependent switching of feedback controllers is possible in the human motor system. The experimental and computational results support the hypothesis that there is contextual switching of feedback controllers, further extending the accumulating evidence of shared features between feedforward and feedback control.
PLOS COMPUTATIONAL BIOLOGY
(2022)
Article
Computer Science, Artificial Intelligence
Cafer Bal
Summary: A novel Central Pattern Generator (CPG) network topology is proposed in this paper for controlling the smooth gait transition of a biomimetic hexapod robot. The designed network structure with bidirectional diffusive coupling topologies achieves robust and efficient gait transitions, providing remarkable results in terms of gait transitions.
Article
Chemistry, Analytical
Cecilia Garcia Cena, Mariana Campos Costa, Roque Saltaren Pazmino, Cristina Peixoto Santos, David Gomez-Andres, Julian Benito-Leon
Summary: There is evidence of eye movement alterations in neurological diseases, and this study is the first to describe potential eye movement alterations in post-COVID-19 condition using video-oculography. The study found that patients with the post-COVID-19 condition had eye movement alterations, mainly in centripetal latency in visually guided saccades, success rate in memory-guided saccades, latency in antisaccades, and its standard deviation, suggesting the involvement of frontoparietal networks. Further research is needed to understand the functional consequences of these eye movement alterations.
Review
Chemistry, Analytical
Rafael N. Ferreira, Nuno Ferrete Ribeiro, Cristina P. Santos
Summary: This paper presents a comprehensive analysis of fall risk assessment methods using wearable sensors, aiming to identify trends and enhance the reliability of this assessment. The findings will guide researchers in designing innovative solutions.
Article
Chemistry, Analytical
Luis M. Martins, Nuno Ferrete Ribeiro, Filipa Soares, Cristina P. Santos
Summary: The recognition of Activities of Daily Living (ADL) is a widely discussed topic with various applications. AI-based algorithms have shown promising results in ADL recognition using data from wearable sensors. However, the current algorithms have limitations in recognizing a limited number of ADLs, lack focus on transitional activities, falls, and have drawbacks in the amount of data used and validation processes.
Article
Anatomy & Morphology
Joana Figueiredo, Pedro Nuno Fernandes, Juan C. Moreno, Cristina P. Santos
Summary: This study investigates the performance of a bioinspired hybrid control called Feedback-Error Learning (FEL) controller in tracking user-oriented gait trajectories and adapting to dynamic changes. The results show that the FEL control accurately tracks gait trajectories with low error and delay, and can adapt to variations in gait and disturbances.
ANATOMICAL RECORD-ADVANCES IN INTEGRATIVE ANATOMY AND EVOLUTIONARY BIOLOGY
(2023)
Review
Chemistry, Analytical
Cristiana Pinheiro, Joana Figueiredo, Joao Cerqueira, Cristina P. Santos
Summary: This review provides recommendations for future research on robotic biofeedback in post-stroke gait rehabilitation. Most studies found that visual biofeedback was effective in improving outcomes, and future research could focus on personalized biofeedback using multiple sensors and actuators, as well as exploring the complementarities between BSs and different assistive devices and physiotherapist-oriented cues.
Review
Chemistry, Analytical
Luis Moreira, Joana Figueiredo, Joao Cerqueira, Cristina P. Santos
Summary: This article summarizes the research progress on the adaptability between lower-limb wearable assistive devices and human locomotion modes. It is found that time-domain raw data from inertial measurement unit sensors are widely used, and different classifiers are employed to decode the locomotion modes. Future research should consider data from people with lower-limb impairments using assistive devices for daily locomotion modes.
Article
Chemistry, Analytical
Joao M. Lopes, Joana Figueiredo, Pedro Fonseca, Joao J. Cerqueira, Joao P. Vilas-Boas, Cristina P. Santos
Summary: This study proposes a deep learning-based tool for estimating energy expenditure in robotics-based rehabilitation. The tool uses more ergonomic sensors than indirect calorimetry and demonstrates good accuracy, especially with the use of CNN. It can estimate energy expenditure in assisted and non-assisted conditions and differentiate energy expenditure at different gait speeds.
Article
Multidisciplinary Sciences
Manuel Palermo, Sara M. Cerqueira, Joao Andre, Antonio Pereira, Cristina P. Santos
Summary: Wearable technology has great potential for motion monitoring, but its widespread use is still limited due to challenges such as high cost and lack of datasets. This study provides two datasets with low-cost and high-end sensor data for complete inertial pose pipeline analysis. The datasets, containing synchronized ground-truth inertial motion capture system data, can contribute to the development of novel algorithms for various applications.
Article
Multidisciplinary Sciences
Manuel Palermo, Joao M. Lopes, Joao Andre, Ana C. Matias, Joao Cerqueira, Cristina P. Santos
Summary: This study presents a dataset that includes multi-camera, multimodal, and detailed data for monitoring gait and posture while using assisting robotic devices. The dataset can be used for the development and evaluation of various algorithms, including pose estimation, human detection and tracking, movement forecasting, and biomechanical analysis.
Review
Chemistry, Analytical
Rafael N. Ferreira, Nuno Ferrete Ribeiro, Joana Figueiredo, Cristina P. Santos
Summary: Humans' ability to recover balance in response to gait perturbations is negatively affected by aging, increasing the risk of slip and trip events leading to falls. Traditional exercise-based interventions have inconsistent results in reducing fall rates, while perturbation-based balance training (PBT) shows promise in preventing falls by improving reactive stability and fall-resisting skills. This review surveys different methods used in scientific literature to induce artificial slips and trips in healthy adults during treadmill and overground walking, aiming to bridge the gap between laboratory and real-life falls.
Article
Computer Science, Artificial Intelligence
Carolina Goncalves, Joao M. Lopes, Sara Moccia, Daniele Berardini, Lucia Migliorelli, Cristina P. Santos
Summary: This study proposes a contactless approach to decode human motion using RGB-D cameras, aiming at achieving intelligent and real-time interaction with smart walkers. By using a convolutional neural network with a channel-wise attention mechanism, the accuracy of early action detection and recognition is significantly improved. Promising results are achieved for human motion decoding strategy.
EXPERT SYSTEMS WITH APPLICATIONS
(2023)
Article
Engineering, Multidisciplinary
Cecilia E. Garcia Cena, Luis Silva, Fabian H. Diaz Palencia, Maria Islan Morinigo, Cristina P. Santos, Roque Saltaren Pazmino, Julian Benito-Leon, David Gomez-Andres
Summary: The measurement of respiratory dynamics is underrated and challenging in the clinical setting and daily life. This article proposes a concept to measure respiratory rate (RR) and other parameters using four inertial sensors. Through experiments, the most suitable placement for each sensor was determined, and the reliability of the system in measuring abnormal respiratory parameters was studied. The results showed potential for the system to be used in clinical settings to measure respiratory dynamics.
Proceedings Paper
Robotics
Simao P. Carvalho, Joana Figueiredo, Cristina P. Santos
Summary: This study proposes a fully wearable lower limb neuroprosthesis design and technical architecture, along with a Matlab-OpenSim framework for fast tuning of FES controllers. The results demonstrate that the system meets real-time requirements and the tuned PID controller can reliably track the desired ankle trajectory.
ROBOTICS IN NATURAL SETTINGS, CLAWAR 2022
(2023)
Proceedings Paper
Robotics
Diana Rito, Cristiana Pinheiro, Joana Figueiredo, Cristina P. Santos
Summary: This study presents the design and validation of a wearable and fully immersive VR-based tool for balance rehabilitation. The tool provides multimodal feedback and real-time motor assessment, effectively improving balance and walking ability, as well as increasing user participation and enthusiasm during training.
ROBOTICS IN NATURAL SETTINGS, CLAWAR 2022
(2023)
Proceedings Paper
Robotics
Goncalo Neves, Joao S. Sequeira, Cristina Santos
Summary: This paper describes a robotic cane that assists people with mild locomotion disabilities in maintaining and recovering balance, with experiments showing the viability of the concept.
ROBOTICS FOR SUSTAINABLE FUTURE, CLAWAR 2021
(2022)
Article
Automation & Control Systems
Runwei Guan, Shanliang Yao, Lulu Liu, Xiaohui Zhu, Ka Lok Man, Yong Yue, Jeremy Smith, Eng Gee, Yutao Yue
Summary: With the development of Unmanned Surface Vehicles (USVs), the perception of inland waterways has become significant. Traditional RGB cameras cannot work effectively in adverse weather and at night, which has led to the emergence of 4D millimeter-wave radar as a new perception sensor. However, the radar suffers from water-surface clutter and irregular shape of point cloud. To address these issues, this paper proposes a high-performance panoptic perception model called Mask-VRDet, which fuses features of vision and radar using graph neural network.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Adrien Le Reun, Kevin Subrin, Anthony Dubois, Sebastien Garnier
Summary: This study aims to evaluate the quality and health of aerospace parts using a high-dimensional robotic cell. By utilizing X-ray Computed Tomography devices, the interior of the parts can be reconstructed and anomalies can be detected. A methodology is proposed to assess both the raw process capability and the improved process capability, with three strategies developed to improve the robot behavior model and calibration.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Weiming Ba, Jung-Che Chang, Jing Liu, Xi Wang, Xin Dong, Dragos Axinte
Summary: This paper proposes a hybrid scheme for kinematic control of continuum robots, which avoids errors through tension supervision and accurate piecewise linear approximation. The effectiveness of the controller is verified on different continuum robotic systems.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Gabriele Abbate, Alessandro Giusti, Viktor Schmuck, Oya Celiktutan, Antonio Paolillo
Summary: In this study, a learning-based approach is proposed to predict the probability of human users interacting with a robot before the interaction begins. By considering the pose and motion of the user, the approach labels the robot's encounters with humans in a self-supervised manner. The method is validated and deployed in various scenarios, achieving high accuracy in predicting user intentions to interact with the robot.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Tiago Cortinhal, Eren Erdal Aksoy
Summary: This work presents a new depth-and semantics-aware conditional generative model, named TITAN-Next, for cross-domain image-to-image translation between LiDAR and camera sensors. The model is able to translate raw LiDAR point clouds to RGB-D camera images by solely relying on semantic scene segments, and it has practical applications in fields like autonomous vehicles.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Marios Krestenitis, Emmanuel K. Raptis, Athanasios Ch. Kapoutsis, Konstantinos Ioannidis, Elias B. Kosmatopoulos, Stefanos Vrochidis
Summary: This paper addresses the issue of informative path planning for a UAV used in precision agriculture. By using a non-uniform scanning approach, the time spent in areas with minimal value is reduced, while maintaining high precision in information-dense regions. A novel active sensing and deep learning-based coverage path planning approach is proposed, which adjusts the UAV's speed based on the quantity and confidence level of identified plant classes.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Shota Kokubu, Pablo E. Tortos Vinocour, Wenwei Yu
Summary: In this study, a new modular soft actuator was proposed to improve the support performance of soft rehabilitation gloves (SRGs). Objective evaluations and clinical tests were conducted to demonstrate the effectiveness and functionality of the proposed actuator and SRG.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Jinliang Zhu, Yuanxi Sun, Jie Xiong, Yiyang Liu, Jia Zheng, Long Bai
Summary: This paper proposes an active prosthetic knee joint with a variable stiffness parallel elastic actuation mechanism. Numerical verifications and practical experiments demonstrate that the mechanism can reduce torque and power, thus reducing energy consumption and improving the endurance of the prosthetic knee joint.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Yong You, Jingtao Wu, Yunlong Meng, Dongye Sun, Datong Qin
Summary: A new power-cycling variable transmission (PCVT) is proposed and applied to construction vehicles to improve transmission efficiency. A shift correction strategy is developed based on identifying the changes in construction vehicles' mass and gradient. Simulation results show that the proposed method can correct shift points, improve operation efficiency, and ensure a safer operation process.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Shaorui Liu, Wei Tian, Jianxin Shen, Bo Li, Pengcheng Li
Summary: This paper proposes a two-objective optimization technique for multi-robot systems, addressing the issue of balancing productivity and machining performance in high-quality machining tasks.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Pengchao Ding, Faben Zhu, Hongbiao Zhu, Gongcheng Wang, Hua Bai, Han Wang, Dongmei Wu, Zhijiang Du, Weidong Wang
Summary: We propose an autonomous approaching scheme for mobile robot traversing obstacle stairwells, which overcomes the restricted field of vision caused by obstacles. The scheme includes stair localization, structural parameter estimation, and optimization of the approaching process.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Pedro Azevedo, Vitor Santos
Summary: Accurate detection and tracking of vulnerable road users and traffic objects are vital tasks for autonomous driving and driving assistance systems. This paper proposes a solution for object detection and tracking in an autonomous driving scenario, comparing different object detectors and exploring the deployment on edge devices. The effectiveness of DeepStream technology and different object trackers is assessed using the KITTI tracking dataset.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Benjamin Beiter, Divya Srinivasan, Alexander Leonessa
Summary: Powered exoskeletons can significantly reduce physical workload and have great potential impact on future labor practices. To truly assist users in achieving task goals, a shared autonomy control framework is proposed to separate the control objectives of the human and exoskeleton. Positive Power control is introduced for the human-based controller, while 'acceptance' is used as a measure of matching the exoskeleton's control objective to the human's. Both control objectives are implemented in an optimization-based Whole-Body-Control structure. The results verify the effectiveness of the control framework and its potential for improving cooperative control for powered exoskeletons.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)