Personalised 3D Human Digital Twin with Soft-Body Feet for Walking Simulation
School of Mechanical and Aerospace Engineering, Nanyang Technological University（南洋理工大学机械与航空航天工程学院）；Rehabilitation Research Institute of Singapore (RRIS)（新加坡康复研究院）
Kum Yew Loke, Sherwin Stephen Chan, Mingyuan Lei, Henry Johan, Bingran Zuo, Wei Tech Ang
备注：
10 pages, 16th International Conference on Social Robotics
With the increasing use of assistive robots in rehabilitation and assisted mobility of human patients, there has been a need for a deeper understanding of human-robot interactions particularly through simulations, allowing an understanding of these interactions in a digital environment. There is an emphasis on accurately modelling personalised 3D human digital twins in these simulations, to glean more insights on human-robot interactions. In this paper, we propose to integrate personalised soft-body feet, generated using the motion capture data of real human subjects, into a skeletal model and train it with a walking control policy. Through evaluation using ground reaction force and joint angle results, the soft-body feet were able to generate ground reaction force results comparable to real measured data and closely follow joint angle results of the bare skeletal model and the reference motion. This presents an interesting avenue to produce a dynamically accurate human model in simulation driven by their own control policy while only seeing kinematic information during training.
Analytical Model and Experimental Testing of the SoftFoot: an Adaptive Robot Foot for Walking over Obstacles and Irregular Terrains
Technical University of Munich (TUM)（慕尼黑工业大学）；Delft University of Technology (TU Delft)（代尔夫特理工大学）；German Aerospace Center (DLR)（德国航空航天中心）；Istituto Italiano di Tecnologia（意大利技术研究院）；University of Pisa（比萨大学）
Asymptotically Stable Walking of a Five-Link Underactuated 3D Bipedal Robot
CNRS（法国国家科学研究中心）；IRCCyN（南特中央理工学院机器人研究中心）；Nantes Atlantic University（南特大西洋大学）；University of Michigan（密歇根大学）；National Taiwan University of Science and Technology（台湾科技大学）
Walking on TacTip toes: A tactile sensing foot for walking robots
EPSRC Centre for Doctoral Training in Future Autonomous and Robotic Systems (FARSCOPE) at the Bristol Robotics Laboratory（布里斯托机器人实验室未来自主与机器人系统博士培训中心）；Dept. of Engineering Maths and Bristol Robotics Laboratory, University of Bristol（布里斯托大学工程数学系与布里斯托机器人实验室）；Dept. of Engineering Maths, University of Bristol（布里斯托大学工程数学系）
Investigating the Performance of Soft Robotic Adaptive Feet with Longitudinal and Transverse Arches
Soft Robotics for Human Cooperation and Rehabilitation Lab, Fondazione Istituto Italiano di Tecnologia（人类合作与康复软机器人实验室，意大利理工研究院）；Department of Information Engineering, University of Pisa（帕尔马大学信息工程系）
Energy-Efficient Quadruped Locomotion with Compliant Feet
Department of Mechanical Engineering, Indian Institute of Science（印度科学研究院机械工程系）；Robert Bosch Centre for Cyber Physical Systems, Indian Institute of Science（印度科学研究院网络物理系统研究中心）；School of Engineering and Applied Science, Ahmedabad University（阿亨布尔大学工程与应用科学学院）
Extended Hybrid Zero Dynamics for Bipedal Walking of the Knee-less Robot SLIDER
Robot Intelligence Lab, Dyson School of Design Engineering, Imperial College London, UK（机器人智能实验室，设计工程学院，伦敦帝国理工学院，英国）；Department of Aeronautics, Imperial College London, UK（航空系，伦敦帝国理工学院，英国）
Brain-Body-Task Co-Adaptation can Improve Autonomous Learning and Speed of Bipedal Walking
University of Southern California（南加州大学）；Division of Biokinesiology and Physical Therapy, University of Southern California（南加州大学生物运动学与物理治疗系（此处按要求提取到大学级别，实际机构为南加州大学））
