Search Results (2,069)

Snake robots require autonomous localization and mapping capabilities for field applications. However, the characteristics of their motion, such as large turning angles and fast rotation speeds, can lead to issues like drift or even failure in positioning and map building. In response to this situation, this paper starts from the gait motion characteristics of the snake robot itself, proposing an improved gait motion method and a tightly coupled method based on IMU and visual information to solve the problem of poor algorithm convergence caused by head-shaking in snake robot SLAM. Firstly, the adaptability of several typical gaits of the snake robot to SLAM methods was evaluated. Secondly, the serpentine gait was selected as the object of gait improvement, and a head stability control method for the snake robot was proposed, thereby reducing the interference of the snake robot’s motion on the sensors. Thirdly, a visual–inertial tightly coupled SLAM method for the snake robot’s serpentine gait and Arc-Rolling gait was proposed, and the method was verified to enhance the robustness of the visual SLAM algorithm and improve the positioning and mapping accuracy of the snake robot. Finally, experiments proved that the methods proposed in this paper can effectively improve the accuracy of positioning and map building for snake robots. Full article

Due to increasing traffic congestion, travel modeling has gained importance in the development of transportion mode detection (TMD) strategies over the past decade. Nowadays, recent smartphones, equipped with integrated inertial measurement units (IMUs) and embedded algorithms, can play a crucial role in such development. In particular, obtaining much more information on the transportation modes used by users through smartphones is very challenging due to the variety of the data (accelerometers, magnetometers, gyroscopes, proximity sensors, etc.), the standardization issue of datasets and the pertinence of learning methods for that purpose. Reviewing the latest progress on TMD systems is important to inform readers about recent datasets used in detection, best practices for classification issues and the remaining challenges that still impact the detection performances. Existing TMD review papers until now offer overviews of applications and algorithms without tackling the specific issues faced with real-world data collection and classification. Compared to these works, the proposed review provides some novelties such as an in-depth analysis of the current state-of-the-art techniques in TMD systems, relying on recent references and focusing particularly on the major existing problems, and an evaluation of existing methodologies for detecting travel modes using smartphone IMUs (including dataset structures, sensor data types, feature extraction, etc.). This review paper can help researchers to focus their efforts on the main problems and challenges identified. Full article

Background and Purpose: This pilot randomized controlled trial evaluated the effects of 12 sessions of patient-specific adaptive dynamic cycling (PSADC) versus non-adaptive cycling (NA) on motor function and mobility in individuals with Parkinson’s disease (PD), using inertial measurement unit (IMU) sensors for objective assessment. Methods: Twenty-three participants with PD (13 in the PSADC group and 10 in the NA group) completed the study over a 4-week period. Motor function was measured using the Kinesia™ sensors and the MDS-UPDRS Motor III, while mobility was assessed with the TUG test using OPAL IMU sensors. Results: The PSADC group showed significant improvements in MDS-UPDRS Motor III scores (t = 5.165, p < 0.001) and dopamine-sensitive symptoms (t = 4.629, p = 0.001), whereas the NA group did not improve. Both groups showed non-significant improvements in TUG time. IMU sensors provided continuous, quantitative, and unbiased measurements of motor function and mobility, offering a more precise and objective tracking of improvements over time. Conclusions: PSADC demonstrated enhanced treatment effects on PD motor function compared to NA while also reducing variability in individual responses. The integration of IMU sensors was essential for precise monitoring, supporting the potential of a data-driven, individualized exercise approach to optimize treatment outcomes for individuals with PD. Full article

As mining technology advances, intelligent robots in open-pit mining require precise localization and digital maps. Nonetheless, significant pitch variations, uneven highways, and rocky surfaces with minimal texture present substantial challenges to the precision of feature extraction and positioning in traditional visual SLAM systems, owing to the intricate terrain features of open-pit mines. This study proposes an improved SLAM technique that integrates visual and Inertial Measurement Unit (IMU) data to address these challenges. The method incorporates a point–line feature fusion matching strategy to enhance the quality and stability of line feature extraction. It integrates an enhanced Line Segment Detection (LSD) algorithm with short segment culling and approximate line merging techniques. The combination of IMU pre-integration and visual feature restrictions is executed inside a tightly coupled visual–inertial framework utilizing a sliding window approach for back-end optimization, enhancing system robustness and precision. Experimental results demonstrate that the suggested method improves RMSE accuracy by 36.62% and 26.88% on the MH and VR sequences of the EuRoC dataset, respectively, compared to ORB-SLAM3. The improved SLAM system significantly reduces trajectory drift in the simulated open-pit mining tests, improving localization accuracy by 40.62% and 61.32%. The results indicate that the proposed method demonstrates significance. Full article

Without a GNSS (global navigation satellite system) signal, the integrated navigation system in vehicles with a fixed trajectory (e.g., railcars) is limited to the use of micro-electromechanical system-inertial navigation system (MEMS-INS) and odometer (ODO). Due to the significant measurement error of the MEMS inertial device and the inability of ODO to output attitude, the positioning error is generally large. To address this problem, this paper presents a new integrated navigation algorithm based on a dynamically constrained Kalman model. By analyzing the dynamics of a railcar, several new observations have been investigated, including errors of up and lateral velocity, centripetal acceleration, centripetal D-value (difference value), and an up-gyro bias. The state transition matrix and observation matrix for the error state model are represented. To improve navigation accuracy, virtual noise technology is applied to correct errors of up and lateral velocity. The vehicle-running experiment conducted within 240 s demonstrates that the positioning error rate of the dead-reckoning method based on MEMS-INS is 83.5%, whereas the proposed method exhibits a rate of 4.9%. Therefore, the accuracy of positioning can be significantly enhanced. Full article

To suppress pedestrian positioning drift, a velocity constraint commonly known as zero-velocity update (ZUPT) is widely used. However, it cannot correct the error in the non-zero velocity interval (non-ZVI) or observe heading errors. In addition, the positioning accuracy will be further affected when a velocity error occurs in the ZVI (e.g., foot tremble). In this study, the foot, ankle, and shank were regarded as a triangular structure. Consequently, an angle constraint was established by utilizing the sum of the internal angles. Moreover, in contrast to the traditional ZUPT algorithm, a velocity constraint method combined with Coriolis theorem was constructed. Magnetometer measurements were used to correct heading. Three groups of experiments with different trajectories were carried out. The ZUPT method of the single inertial measurement unit (IMU) and the distance constraint method of dual IMUs were employed for comparisons. The experimental results showed that the proposed method had high accuracy in positioning. Furthermore, the constraints built by the lower limb structure were applied to the whole gait cycle (ZVI and non-ZVI). Full article

The rise of mobile communication, low-power chips, and the Internet of Things has made smartwatches increasingly popular. Equipped with inertial measurement units (IMUs), these devices can recognize user activities through artificial intelligence (AI) analysis of sensor data. However, most existing AI-based activity recognition algorithms require significant computational power and storage, making them unsuitable for low-power devices like smartwatches. Additionally, discrepancies between training data and real-world data often hinder model generalization and performance. To address these challenges, we propose LIMUNet and its smaller variant LIMUNet-Tiny—lightweight neural networks designed for human activity recognition on smartwatches. LIMUNet utilizes depthwise separable convolutions and residual blocks to reduce computational complexity and parameter count. It also incorporates a dual attention mechanism specifically tailored to smartwatch sensor data, improving feature extraction without sacrificing efficiency. Experiments on the PAMAP2 and LIMU datasets show that the LIMUNet improves recognition accuracy by 2.9% over leading lightweight models while reducing parameters by 88.3% and computational load by 58.4%. Compared to other state-of-the-art models, LIMUNet achieves a 9.6% increase in accuracy, with a 60% reduction in parameters and a 57.8% reduction in computational cost. LIMUNet-Tiny further reduces parameters by 75% and computational load by 80%, making it even more suitable for resource-constrained devices. Full article

Quadruped robots possess significant mobility in complex and uneven terrains due to their outstanding stability and flexibility, making them highly suitable in rescue missions, environmental monitoring, and smart agriculture. With the increasing use of quadruped robots in more demanding scenarios, ensuring accurate and stable state estimation in complex environments has become particularly important. Existing state estimation algorithms relying on multi-sensor fusion, such as those using IMU, LiDAR, and visual data, often face challenges on non-stationary terrains due to issues like foot-end slippage or unstable contact, leading to significant state drift. To tackle this problem, this paper introduces a state estimation algorithm that integrates an invariant extended Kalman filter (InEKF) with a disturbance observer, aiming to estimate the motion state of quadruped robots on non-stationary terrains. Firstly, foot-end slippage is modeled as a deviation in body velocity and explicitly included in the state equations, allowing for a more precise representation of how slippage affects the state. Secondly, the state update process integrates both foot-end velocity and position observations to improve the overall accuracy and comprehensiveness of the estimation. Lastly, a foot-end contact probability model, coupled with an adaptive covariance adjustment strategy, is employed to dynamically modulate the influence of the observations. These enhancements significantly improve the filter’s robustness and the accuracy of state estimation in non-stationary terrain scenarios. Experiments conducted with the Jueying Mini quadruped robot on various non-stationary terrains show that the enhanced InEKF method offers notable advantages over traditional filters in compensating for foot-end slippage and adapting to different terrains. Full article

Reduced walking endurance is common in people with multiple sclerosis (PwMS), leading to reduced social participation and increased fall risk. This highlights the importance of identifying which gait aspects should be mostly targeted by rehabilitation to maintain/increase walking endurance in this population. A total of 56 PwMS and 24 healthy subjects (HSs) executed the 6 min walk test (6 MWT), a clinical measure of walking endurance, wearing three inertial sensors (IMUs) on their shanks and lower back. Five IMU-based digital metrics descriptive of different gait domains, i.e., double support duration, trunk sway, gait regularity, symmetry, and local dynamic instability, were computed. All metrics demonstrated moderate–high ability to discriminate between HSs and PwMS (AUC: 0.79–0.91) and were able to detect differences between PwMS at minimal (PwMS_mFR) and moderate–high fall risk (PwMS_FR). Compared to PwMS_mFR, PwMS_FR walked with a prolonged double support phase (+100%), larger trunk sway (+23%), lower stride regularity (−32%) and gait symmetry (−18%), and higher local dynamic instability (+24%). Normative cut-off values were provided for all metrics to help clinicians in detecting abnormal scores at an individual level. The five metrics, entered into a multiple linear regression model with 6 MWT distance as the dependent variable, showed that gait regularity and the three metrics most related to dynamic balance (i.e., double support duration, trunk sway, and local dynamic instability) were significant independent contributors to 6 MWT distance, while gait symmetry was not. While double support duration and local dynamic instability were independently associated with walking endurance in both PwMS_mFR and PwMS_FR, gait regularity and trunk sway significantly contributed to 6 MWT distance only in PwMS_mFR and PwMS_FR, respectively. Taken together, the present results allowed us to provide hints for tailored rehabilitation exercises aimed at specifically improving walking endurance in PwMS. Full article

Background/Objectives: This paper proposes a method for managing gait imbalances by integrating the Internet of Things (IoT) and machine learning technologies. Ankle–foot orthosis (AFO) devices are crucial medical braces that align the lower leg, ankle, and foot, offering essential support for individuals with gait imbalances by assisting weak or paralyzed muscles. This research aims to revolutionize medical orthotics through IoT and machine learning, providing a sophisticated solution for managing gait issues and enhancing patient care with personalized, data-driven insights. Methods: The smart ankle–foot orthosis (AFO) is equipped with a surface electromyography (sEMG) sensor to measure muscle activity and an Inertial Measurement Unit (IMU) sensor to monitor gait movements. Data from these sensors are transmitted to the cloud via fog computing for analysis, aiming to identify distinct walking phases, whether normal or aberrant. This involves preprocessing the data and analyzing it using various machine learning methods, such as Random Forest, Decision Tree, Support Vector Machine (SVM), Artificial Neural Network (ANN), Long Short-Term Memory (LSTM), and Transformer models. Results: The Transformer model demonstrates exceptional performance in classifying walking phases based on sensor data, achieving an accuracy of 98.97%. With this preprocessed data, the model can accurately predict and measure improvements in patients’ walking patterns, highlighting its effectiveness in distinguishing between normal and aberrant phases during gait analysis. Conclusions: These predictive capabilities enable tailored recommendations regarding the duration and intensity of ankle–foot orthosis (AFO) usage based on individual recovery needs. The analysis results are sent to the physician’s device for validation and regular monitoring. Upon approval, the comprehensive report is made accessible to the patient, ensuring continuous progress tracking and timely adjustments to the treatment plan. Full article

The aim of this study was to analyze the differences in terms of (1) muscle activation patterns; (2) metabolic power (MP) and energy cost (EC) estimated via two determination methods (i.e., the Global Positioning System [GPS] and electromyography-based [EMG]); and (3) the apparent efficiency (AE) of 30-m linear sprints in seventeen elite U17 male soccer players performed under different conditions (i.e., unloaded sprint [US], parachute sprint [PS], and four incremental sled loads [SS15, SS30, SS45, SS60, corresponding to 15, 30, 45 and 60 kg of additional mass]). In a single testing session, each participant executed six trials (one attempt per sprint type). The results indicated that increasing the sled loads led to a linear increase in the relative contribution of the quadriceps (R² = 0.98) and gluteus (R² = 0.94) and a linear decrease in hamstring recruitment (R² = 0.99). The MP during the US was significantly different from SS15, SS30, SS45, and SS60, as determined by the GPS and EMG approaches (p-values ranging from 0.01 to 0.001). Regarding EC, significant differences were found among the US and all sled conditions (i.e., SS15, SS30, SS45, and SS60) using the GPS and EMG methods (all p ≤ 0.001). Moreover, MP and EC determined via GPS were significantly lower in all sled conditions when compared to EMG (all p ≤ 0.001). The AE was significantly higher for the US when compared to the loaded sprinting conditions (all p ≤ 0.001). In conclusion, muscle activation patterns, MP and EC, and AE changed as a function of load in sled-resisted sprinting. Furthermore, GPS-derived MP and EC seemed to underestimate the actual neuromuscular and metabolic demands imposed on youth soccer players compared to EMG. Full article

Human locomotion contains innate variability which may provide health insights. Detrended fluctuation analysis (DFA) has been used to quantify the temporal structure of variability for treadmill running, although it has been less commonly applied to uncontrolled overground running. This study aimed to determine how running gait complexity changes in response to gradient and elapsed exercise duration during uncontrolled overground running. Sixty-eight participants completed an overground, mass-participation five-kilometre run (a parkrun). Stride times were recorded using an inertial measurement unit mounted on the distal shank. Data were divided into four consecutive intervals (uphill lap 1, downhill lap 1, uphill lap 2, downhill lap 2). The magnitude (SD) and structure (DFA) of stride time variability were compared across elapsed exercise duration and gradient using a repeated-measures ANOVA. Participants maintained consistent stride times throughout the run. Stride time DFA-α displayed a moderate decrease (d = |0.39| ± 0.13) during downhill running compared to uphill running. DFA-α did not change in response to elapsed exercise duration, although a greater stride time SD was found during the first section of lap 1 (d = |0.30| ± 0.12). These findings suggest that inter- and intra-run changes in gait complexity should be interpreted in the context of course elevation profiles before conclusions on human health are drawn. Full article

Pre-impact fall detection during e-scooter riding is essential for rider safety. Both threshold-based and deep learning algorithms (supervised and unsupervised models) were developed in this study. Twenty participants performed normal driving maneuvers such as straight driving, speed bumps, clockwise roundabouts, and counterclockwise roundabouts, along with falls (abnormal driving maneuvers). A 6-axis IMU sensor (Xsens DOT, The Netherlands) was positioned at the T7 location to record data at 60 Hz. The approaches included threshold-based, supervised learning, and unsupervised learning models The threshold-based approach yielded an accuracy of 98.86% with an F1 score of 0.99, while the supervised model had a slightly lower performance, reaching 86.29% accuracy and an F1 score of 0.56. The unsupervised knowledge distillation model achieved 98.86% accuracy, an F1 score of 0.99, and a memory size of only 46 kB. All models demonstrated lead times of more than 250 ms, sufficient for airbag deployment. Full article

In this study, a Wi-Fi system with a tethered balloon is proposed for the teleoperation of vehicular forestry machines. This system was developed to establish a Wi-Fi communication for stable teleoperation in a timber harvesting site. This system consisted of a helium balloon, Wi-Fi nodes, a measurement system, a global navigation satellite system (GNSS) antenna, and a wind speed sensor. The measurement system included a GNSS module, an inertial measurement unit (IMU), a data logger, and an altitude sensor. While the helium balloon with the Wi-Fi system was 60 m in the air, the received signal strength indicator (RSSI) was measured by moving a Wi-Fi receiver on the ground. Another GNSS set was also utilized to collect the latitude and longitude data from the Wi-Fi receiver as it traveled. The developed Wi-Fi system with a tethered balloon can create a Wi-Fi zone of up to 1.9 ha within an average wind speed range of 2.2 m/s. It is also capable of performing the teleoperation of vehicular forestry machines with a maximum latency of 185.7 ms. Full article

Continuous accurate positioning in global navigation satellite system (GNSS)-denied environments is essential for robot navigation. Significant advances have been made with light detection and ranging (LiDAR)-inertial measurement unit (IMU) techniques, especially in challenging environments with varying lighting and other complexities. However, the LiDAR/IMU method relies on a recursive positioning principle, resulting in the gradual accumulation and dispersion of errors over time. To address these challenges, this study proposes a tightly coupled LiDAR/IMU/UWB fusion approach that integrates an ultra-wideband (UWB) positioning technique. First, a lightweight point cloud segmentation and constraint algorithm is designed to minimize elevation errors and reduce computational demands. Second, a multi-decision non-line-of-sight (NLOS) recognition module using information entropy is employed to mitigate NLOS errors. Finally, a tightly coupled framework via a resilient mechanism is proposed to achieve reliable position estimation for quadruped robots. Experimental results demonstrate that our system provides robust positioning results even in LiDAR-limited and NLOS conditions, maintaining low time costs. Full article