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Physiological fatigue, a state of reduced cognitive and physical performance resulting from prolonged mental or physical exertion, poses significant challenges in various domains, including healthcare, aviation, transportation, and…
Developing exoskeleton controllers that generalize across diverse locomotor conditions typically requires extensive motion-capture data and biomechanical labeling, limiting scalability beyond instrumented laboratory settings. Here, we…
Inspired by animals that co-adapt their brain and body to interact with the environment, we present a tendon-driven and over-actuated (i.e., n joint, n+1 actuators) bipedal robot that (i) exploits its backdrivable mechanical properties to…
In this study, we present a feedforward control system designed for active gravity compensation on an upper body exoskeleton. The system utilizes only positional data from internal motor sensors to calculate torque, employing analytical…
Human movement disorders or paralysis lead to the loss of control of muscle activation and thus motor control. Functional Electrical Stimulation (FES) is an established and safe technique for contracting muscles by stimulating the skin…
Equilibrating proteins and other biomacromolecules is cardinal for molecular dynamics simulation of such biological systems in which they perform free dynamics without any externally-applied mechanical constraint, until thermodynamic…
Injuries to the knee joint are very common for long-distance and frequent runners, an issue which is often attributed to fatigue. We address the problem of fatigue detection from biomechanical data from different sources, consisting of…
Progressive collapsing foot deformity results from degeneration of the ligaments and the posterior tibial tendon (PTT). Our understanding of the relationship between the failures of them remains incomplete. We sought to improve this…
Reinforcement learning methods often produce brittle policies -- policies that perform well during training, but generalize poorly beyond their direct training experience, thus becoming unstable under small disturbances. To address this…
In this paper, an experimental testbed and associated psychophysical paradigm are presented for understanding how people discriminate torsional stiffness using wrist rotation about their forearm. Featured in the testbed are two 1-DoF rotary…
Gait rehabilitation interventions targeting paretic propulsion can improve walking speed and function in individuals post-stroke. Previous work has demonstrated that real-time biofeedback targeting anterior ground reaction forces (AGRFs)…
Emotional and physical well-being at workplace is important for a positive work environment and higher productivity. Jobs such as software programming lead to a sedentary lifestyle and require high interaction with computers. Working at the…
Slow and accurate finger and limb movements are essential to daily activities, but their neural control and governing mechanics are relatively unexplored. We consider neuromechanical systems where slow movements are produced by neural…
Human locomotion emerges from high-dimensional neuromuscular control, making predictive musculoskeletal simulation challenging. We present a physiology-informed reinforcement-learning framework that constrains control using muscle…
Active muscles are crucial for maintaining postural stability when seated in a moving vehicle. Advanced active 3D non-linear full body models have been developed for impact and comfort simulation, including large numbers of individual…
Passive shoulder exoskeletons have been widely introduced in the industry to aid upper extremity movements during repetitive overhead work. As an ergonomic intervention, it is important to understand how users adapt to these devices over…
The application of biomechanic and motor control models in the control of bidedal robots (humanoids, and exoskeletons) has revealed limitations of our understanding of human locomotion. A recently proposed model uses the potential energy…
A significant challenge for the control of a robotic lower extremity rehabilitation exoskeleton is to ensure stability and robustness during programmed tasks or motions, which is crucial for the safety of the mobility-impaired user. Due to…
Muscle fatigue is defined as the point at which the muscle is no longer able to sustain the required force or work output level. The overexertion of muscle force and muscle fatigue can induce acute pain and chronic pain in human body. When…
Virtual character animation and movement synthesis have advanced rapidly during recent years, especially through a combination of extensive motion capture datasets and machine learning. A remaining challenge is interactively simulating…