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Squat Motion of a Humanoid Robot Using Three-Particle Model Predictive Control and Whole-Body Control.
Sensors (Basel)
January 2025
Department of Automation, Tsinghua University, Beijing 100084, China.
Squatting is a fundamental and crucial movement, often employed as a basic test during robot commissioning, and it plays a significant role in some service industries and in cases when robots perform high-dynamic movements like jumping. Therefore, achieving continuous and precise squatting actions is of great importance for the future development of humanoid robots. In this paper, we apply three-particle model predictive control (TP-MPC) combined with weight-based whole-body control (WBC) to a humanoid robot.
View Article and Find Full Text PDFComparative study of Baduanjin and brisk walking on balance and stability in older adults.
Exp Gerontol
January 2025
Graduate School of Shandong Sport University, Jinan 250102, Shandong, PR China.
Objective: To investigate the impact of practicing the health Qigong-Baduanjin exercise on lower limb balance among elderly individuals.
Methods: Two intervention methods, Baduanjin and brisk walking, were applied to study the effect of exercise on senior balancing. Sixty elderly individuals aged 65 to 79 were selected and randomly divided into the Baduanjin group, the brisk walking group, and the control group that did not engage in exercise.
Full Body-Worn Textile-Integrated Nanomaterials and Soft Electronics for Real-Time Continuous Motion Recognition Using Cloud Computing.
ACS Appl Mater Interfaces
January 2025
Center for Wearable Intelligent Systems and Healthcare, Georgia Institute of Technology, Atlanta, Georgia 30332, United States.
Recognizing human body motions opens possibilities for real-time observation of users' daily activities, revolutionizing continuous human healthcare and rehabilitation. While some wearable sensors show their capabilities in detecting movements, no prior work could detect full-body motions with wireless devices. Here, we introduce a soft electronic textile-integrated system, including nanomaterials and flexible sensors, which enables real-time detection of various full-body movements using the combination of a wireless sensor suit and deep-learning-based cloud computing.
View Article and Find Full Text PDFTenodesis in Flail Foot: A New Surgical Technique.
Arch Bone Jt Surg
January 2024
Joint Reconstruction Research Center, Tehran University of Medical Sciences, Tehran, Iran.
Flail foot is a condition characterized by a significant weakness in ankle dorsiflexion, resulting in limited or no active mobility in the ankle. To address this issue, we described a novel approach called tenodesis, which has been developed for ankle joint stabilization. This technique utilizes the patient's tendons to minimize potential complications.
View Article and Find Full Text PDFInter-subject variability in muscle synergies during squatting movements.
Hum Mov Sci
January 2025
Department of Sports Rehabilitation, Cheongju University, Republic of Korea. Electronic address:
This study investigated muscle synergies during squats, focusing on the individual variability in motor control strategies. Sixteen healthy young adults performed 20 squats at a consistent speed. Muscle synergies were extracted using non-negative matrix factorization, followed by k-means clustering and discriminant analysis to categorize similar muscle synergies.
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