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  • R Riener, T Fuhr
  • 1998
To control movements aided by functional electrical stimulation (FES) in paraplegic patients, stimulation of the paralyzed lower limbs might be adjusted in response to voluntary upper body effort. Recently, Donaldson and Yu proposed a theoretical approach, called "control by handle reactions of leg muscle stimulation" (CHRELMS), in which stimulation of the(More)
We present a means of generating and understanding relative spatial positions in a natural three-dimensional scene, in terms of six spatial prepositions, left, right, in-front, behind, above, and below, using real stereo images. Our model has two layers. First, a symbolic spatial description of the scene independent of reference frames is computed. Then, in(More)
We propose a 3D computational model for projective relations which is used in an integrated image and speech understanding system. The image and speech understanding system is being developed within a joint research project fo-cusing on both technical and cognitive aspects of human-computer interaction. Psychological experiments have been carried out to(More)
We present a hybrid system that integrates speech and image understanding. Given spoken references, it is able to identify objects of a 3D scene perceived via a stereo camera. Central to our approach is the extraction of qualitative object features and spatial scene properties from acoustic and visual data. The interaction of the understanding processes is(More)
We present a physiologically based model that describes major properties of muscles and segmental dynamics during FES assisted standing-up. It accounts for relevant time-dependent and nonlinear properties (temporal and spatial summation, muscle fatigue, force-length and force-velocity relations, viscoelastic effects, nonlinear moment arms, choice of muscles(More)
Neuroprostheses enabling patients to ascend and descend stairs can provide real functional gain. A novel finite state control scheme is presented and validated experimentally. The motion tasks Ascent and Descent are specified by sequences of motion phases for each leg separately. A supervisory controller coordinates motion phases and synchronizes left and(More)