Kuo Chen

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Estimation of human pose in physical human-machine interactions such as bicycling is challenging because of highly-dimensional human motion and lack of inexpensive, effective motion sensors. In this paper, we present a computational scheme to estimate both the rider trunk pose and the bicycle roll angle using only inertial and force sensors. The estimation(More)
Modeling and control of physical human-machine interactions (pHMI) are challenging due to the high-dimensional movement of human body. In this paper, we present a hybrid statistical/physical dynamic model scheme to capture the pHMI through a rider-bicycle interaction example. We use the Gaussian process dynamical model (GPDM) to capture the high-dimensional(More)
Slip is the major cause of falls in human locomotion. We present a new bipedal modeling approach to capture and predict human walking locomotion with slips. Compared with the existing bipedal models, the proposed slip walking model includes the human foot rolling effects, the existence of the double-stance gait and active ankle joints. One of the major(More)
Tracking whole-body human pose in physical human-machine interactions such as bicycling is challenging because of highly-dimensional human motions and lack of inexpensive, effective motion sensors in outdoor environment. In this paper, we present a computational scheme to estimate the whole-body pose in human-machine interaction with application to the(More)
— Pose estimation of human motor skills such as bicycling in natural environments is challenging because of highly-dimensional human motion. In this paper, we present a dynamic rider/bicycle pose estimation scheme that can be used in outdoor environments. The proposed estimation scheme is based on the integration of the rider/bicycle dynamic model with the(More)
Dynamic modeling of human bipedal walking is important for studying human locomotion and designing assistive and rehabilitation robotic devices. Physical principle-based models and data-driven learning models are two main methods to obtain human walking dynamics. We present analysis and connections between these two different modeling approaches. Mapping(More)
Slip and fall is one of the major causes for human injuries for elders and professional workers. Real-time detection and prediction of the foot slip is critical for developing effective assistive and rehabilitation devices to prevent falls and train balance disorder patients. This paper presents a novel real-time slip detection and prediction scheme with(More)
Electromigration is a reliability concern of microelectronic interconnections, especially for flip chip solder bump with high current density applied. This study shows that with the line-to-bump geometry in a flip chip solder joint, the current density changes significantly between the Al trace and the bump, while the current crowding effect generates more(More)
With the combination of the height sensitivity of atomic force microscopy and the strain sensitivity of transmission electron microscopy, it is shown that near singular stress concentrations can develop naturally in strained epitaxial films. These crack-like instabilities are identified as the sources of dislocation nucleation and multiplication in films of(More)
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