This paper presents a gait phase detection algorithm for providing feedback in walking with robotic prosthesis. The utilizes the output signals of wearable wireless sensory system incorporating sensorized shoe insoles and inertial measurement units attached to body segments. principle detecting transitions between phases is based on heuristic threshold rules, dividing steady-state stride into four phases. For evaluation algorithm, experiments three amputees, prosthesis sensors, were...

Restoring the mobility of transfemoral dysvascular amputees is essential to their rehabilitation process. Impeding restoration mobility, exhaustion often cause noneffective deambulation elderly lowerlimb using a prosthesis as they use more energy for locomotion than younger do. This article presents finite-state control novel powered prototype based on whole-body awareness. Intention detection was implemented through noninvasive, distributed wireless wearable sensory system. The cybernetic...

Roll dynamics in heavy freight vehicles is characterized driving conditions by the lateral load transfer coefficient. The coefficient tracking requires sophisticated measurement systems for assessing wheels’ normal loading. In this paper a new recursive non-linear estimator employing sensors that are already used on vehicle combination with additional units not implementation described. proposed algorithm integrates two subsystems—separate estimators tractor and trailer. first based slip...

The correct identification of smartphones has various applications in the field security or fight against counterfeiting. As level sophistication counterfeit electronics increases, detection procedures must become more accurate but also not destructive for smartphone under testing. Some components are likely to reveal their authenticity even without a physical inspection, since they characterized by hardware fingerprints detectable simply examining data provide. This is case MEMS (Micro...

In this paper a robotic assistive device is presented, aimed at assisting physically impaired individuals when rising from sitting to standing position. The designed as three degrees of freedom (3-DOF) mechanism supporting the subject under buttocks. driven by an electrohydraulic servosystem capable operating in multiple control modes. It instrumented with sensory system providing information about standing-up parameters. Evaluation up was accomplished robot-supported trials paraplegic...

Due to the ageing population and an increasing number of stroke patients, we see potential future rehabilitation in telerehabilitation, which might alleviate workload physiotherapists occupational therapists. In order enable use devices aimed for home independent need be developed. This paper describes design a robotic device post-stroke wrist finger evaluates movement it can perform. Six healthy subjects were tested three experimental conditions: performing coupled fingers from flexion...

Restoring locomotion functionality of transfemoral amputees is essential for early rehabilitation treatment and preserving mobility independence in daily life. Research wearable robotics fostered the development innovative active mechatronic lower-limb prostheses designed with goal to reduce cognitive physical effort life activities. To ensure benefits users, are expected be aware user intention properly interact a closed human-in-the-loop paradigm. In state art various interfaces have been...

This paper presents analysis of the standing-up manoeuvre in paraplegia considering body supportive forces as a potential feedback source functional electrical stimulation (FES)-assisted standing-up. The investigates significance arm, feet, and seat reaction signals to human center-of-mass (COM) trajectory reconstruction. behavior eight paraplegic subjects was analyzed, measuring motion kinematics provide data for modeling. Two nonlinear empirical modeling methods are implemented-Gaussian...

At the Centre for Geodesy of University Maribor, Slovenia, we engaged in measurement and analysis displacements last ten years. We wanted to find connections between applied loads. Therefore, reliable accurate results were needed. A reinforced-concrete plate was loaded 42 kN pre-calculated steps resulting deformations measured by three independent methods. The compared analytical ones. analyses calculations most suitable method implemented. An electronic tacheometer, photogrammetry a...

We investigate the identification of mobile phones through their built-in magnetometers. These electronic components have started to be widely deployed in mass market recent years, and they can exploited uniquely identify due physical differences, which appear digital output generated by them. This is similar approaches reported literature for other phone, including camera, microphones or RF transmission components. In this paper, performed an inexpensive device made up a platform that...

Our work is focused on cooperation of a small industrial robot and human operator where collision expected only between the end-effector lower arm worker. To study effect impact man, passive mechanical (PMLA) was developed. The investigation presented in this paper evaluates whether PMLA sufficiently accurate emulation system arm. same experiments were performed with volunteers. results both investigations compared evaluated to determine can competently replace volunteers dangerous future...

The aim of this study was to analyse the asymmetry sit-to-stand (STS) movement in a group subjects following unilateral transtibial amputation (STTA) and healthy (HSs). Experimental measurements investigated standing-up pattern from two seat heights at three different speeds. Body motion measured using an optical measuring system with active markers. Floor reaction forces moments were by force plates integrated force–moment sensor. Analysis ankle, knee, hip trunk inclination angles shows...

The sit-to-stand transfer of paraplegic patients using functional electrical stimulation (FES) the knee extensors and arm support was analyzed in study. In a group 8 completely paralyzed subjects who were trained FES users, kinematic dynamic parameters recorded during standing up trials. A contactless optical system used to assess human body motion. forces acting on measured by multi-axis force transducers. On basis recursive Newton-Euler inverse analysis, torques joints calculated. joint...

The direction of the Earth's magnetic field is used as a reference vector to determine heading in orientation estimation with wearable sensors. However, strength weak and can be easily disturbed vicinity ferromagnetic materials, which may result inaccurate estimate orientation. This paper presents novel method for estimating compensating disturbances. compensation algorithm implemented within kinematic-based extended Kalman filter based on an assessment disturbance change each time step....

Measuring friction between the tyres of a vehicle and road, often on as many locations road network possible, can be valuable tool for ensuring traffic safety. Rather than by using specialised equipment sequential measurements, this achieved several low-cost measuring devices vehicles that travel part their daily assignments. The presented work proves hypothesis low cost device built provide measurement results comparable to those obtained from expensive devices. As proof concept, two copies...