Publicaties
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Shape-based path adaptation and simulation-based velocity optimization of initial tool trajectories for robotic spray painting KU Leuven
Automatic path planners in robotic spray painting aim to generate trajectories for the paint gun based on a paint deposition model and a model of the object’s surface. Current path planners often ignore shadowing effects and are therefore limited to regular surfaces with low curvatures. In addition, a robot model is typically not included so that executability is not ensured. This paper proposes a novel path planner which (1) spatially adapts ...
Enhancing Constraint-Based Robot Task Specification with Dual Controller and Estimator Synthesis KU Leuven
A Novel Procedure for Knee Flexion Angle Estimation Based on Functionally Defined Coordinate Systems and Independent of the Marker Landmarks KU Leuven
Knee angles are kinematic quantities that are commonly presented in gait analysis reports. They are typically calculated as the relative angles between the anatomical coordinate systems rigidly attached to the femur and the tibia. To give these angles a biomechanical meaning, the coordinate systems must be defined with respect to some anatomical landmarks. For example, if one axis of the joint coordinate systems is directed along the knee ...
Effect of the soft tissue artifact on marker measurements and on the calculation of the helical axis of the knee during a squat movement: A study on the CAMS-Knee dataset. KU Leuven
BACKGROUND: Marker-based motion capture recordings of human body segments are often affected by soft tissue artifact (STA). The undesired and uncontrolled motion of the skin may introduce errors in the estimation of motion and position of body segments and, consequently, in the calculation of the relative functional quantities. METHODS: This study exploited a recently published dataset consisting of six adult subjects that underwent a total knee ...
An optimal method for calculating an average screw axis for a joint, with improved sensitivity to noise and providing an analysis of the dispersion of the instantaneous axes KU Leuven
The instantaneous (ISA) and average (ASA) screw axes are techniques commonly adopted in motion analysis to functionally locate the rotation axis and center of rotation of a joint. Several approaches for calculating such axes were proposed in literature and the main limitations were identified as the need for using a threshold on angular displacements or velocities for handling the cases where the ISA is ill-defined and the need for a method for ...
Extending extrapolation capabilities of probabilistic motion models learned from human demonstrations using shape-preserving virtual demonstrations KU Leuven
Learning from Demonstration (LfD) requires methodologies able to generalize tasks in new situations. This paper studies the use of virtual demonstrations to extend the extrapolation capabilities of probabilistic motion models such as the traPPCA method. Similarly to other LfD methods, traPPCA is able to calculate new trajectories very fast, but does not generalize well outside the area covered by the demonstrations. Another approach, the ...
Effect of the soft tissue artifact on marker measurements and on the calculation of the helical axis of the knee during a gait cycle: A study on the CAMS-Knee data set KU Leuven
The soft tissue artifact (STA) is a phenomenon occurring when the motion of bones or anatomical segments is measured by means of skin markers: the biological tissues between the markers and the bone produce a relative motion bone-markers that leads to inaccuracies in the estimation of rigid body poses or kinematics. The aim of this study was to quantify the STA by exploiting a recently published gait analysis dataset. The dataset was composed of ...