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cs.RO2026
Sparse Calibration-Based Personalization of Kernel-Based Gait Phase and Speed Estimation Using Wearable IMUs
Myeongju Cha, Pilwon Hur
This paper presents sparse calibration-based personalization for kernel-based gait phase and walking speed co-estimation from wearable inertial measurement units (IMUs). A 28-speed…
cs.RO2026
Two-Stage Personalized Gait Phase Estimation in Stroke Survivors During Exoskeleton-Assisted Walking: An Offline Feasibility Study
Hyungseok Ryu, Pilwon Hur
This study evaluated personalized gait phase estimation for stroke survivors using functional inertial measurement unit (IMU) alignment and two-stage sequential adaptation of model…
cs.RO2019
Impedance Control of a Transfemoral Prosthesis using Continuously Varying Ankle Impedances and Multiple Equilibria
Namita Anil Kumar, Woolim Hong, Pilwon Hur
Impedance controllers are popularly used in the field of lower limb prostheses and exoskeleton development. Such controllers assume the joint to be a spring-damper system described…