John McPhee

Energy-Based Auto-Tuning of Velocity Flow Controller for Exoskeleton-User Speed Synchronization

3D Human Pose Estimation with Muscles

We introduce MusclePose as an end-to-end learnable physics-infused 3D human pose estimator that incorporates muscle-dynamics modeling to infer human dynamics from monocular video. Current physics pose estimators aim to predict physically plausible poses by enforcing the underlying dynamics equations…

Rethinking Keypoint Representations: Modeling Keypoints and Poses as Objects for Multi-Person Human Pose Estimation

"In keypoint estimation tasks such as human pose estimation, heatmap-based regression is the dominant approach despite possessing notable drawbacks: heatmaps intrinsically suffer from quantization error and require excessive computation to generate and post-process. Motivated to find a more efficien…

Nonlinear model predictive control of an upper extremity rehabilitation robot using a two-dimensional human-robot interaction model

Stroke rehabilitation technologies have focused on reducing treatment cost while improving effectiveness. Rehabilitation robots are generally developed for home and clinical usage to: 1) deliver repetitive practice to post-stroke patients, 2) minimize therapist interventions, and 3) increase the num…