Related papers: Nonlinear dynamics of human locomotion: effects of…
Repetitive falls degrade the quality of life of elderly people and of patients suffering of various neurological disorders. In order to prevent falls while walking, one should rely on relevant early indicators of impaired dynamic balance.…
Local dynamic stability (LDS) quantifies how a system responds to small perturbations. Several experimental and clinical findings have highlighted the association between gait LDS and fall risk. Walking without shoes is known to slightly…
In human locomotion, sensorimotor synchronization of gait consists of the coordination of stepping with rhythmic auditory cues (auditory cueing, AC). AC changes the long-range correlations among consecutive strides (fractal dynamics) into…
It has been observed that long time series of Stride Time (ST), Stride Length (SL) and Stride Speed (SS=SL/ST) exhibited statistical persistence (long-range auto-correlation) in overground walking. Rhythmic auditory cueing induced…
In this paper, we study dynamic stability during running, focusing on the effects of speed and the use of a leg prosthesis. We compute and compare the maximal Lyapunov exponents of kinematic time-series data from subjects with and without…
Dynamic balance in human locomotion can be assessed through the local dynamic stability (LDS) method. Whereas gait LDS has been used successfully in many settings and applications, little is known about its sensitivity to individual…
The local dynamic stability method (maximum Lyapunov exponent) can assess gait stability. Two variants of the method exist: the short-term divergence exponent (DE), and the long-term DE. Only the short-term DE can predict fall risk. The…
People with Parkinson's Disease experience gait impairments that significantly impact their quality of life. Visual, auditory, and tactile cues can alleviate gait impairments, but they can become less effective due to the progressive nature…
Asynchronous execution is essential for scaling reinforcement learning (RL) to modern large model workloads, including large language models and AI agents, but it can fundamentally alter RL optimization behavior. While prior work on…
Fundamental knowledge in activity recognition of individuals with motor disorders such as Parkinson's disease (PD) has been primarily limited to detection of steady-state/static tasks (sitting, standing, walking). To date, identification of…
Brain oscillations exhibit long-range temporal correlations (LRTCs), which reflect the regularity of their fluctuations: low values representing more random (decorrelated) while high values more persistent (correlated) dynamics. LRTCs…
Gait is an essential manifestation of depression. Laboratory gait characteristics have been found to be closely associated with depression. However, the gait characteristics of daily walking in real-world scenarios and their relationships…
This paper presents Learning-based Autonomous Guidance with RObustness and Stability guarantees (LAG-ROS), which provides machine learning-based nonlinear motion planners with formal robustness and stability guarantees, by designing a…
Effective reinforcement learning (RL) for sepsis treatment depends on learning stable, clinically meaningful state representations from irregular ICU time series. While previous works have explored representation learning for this task, the…
Gait synchronization in pedestrians is influenced by biomechanical, environmental, and cognitive factors. Studying gait in ecological settings provides insights often missed in controlled experiments. This study tackles the challenges of…
Current humanoid push-recovery strategies often use whole-body motion, yet they tend to overlook posture regulation. For instance, in manipulation tasks, the upper body may need to stay upright and have minimal recovery displacement. This…
In this paper, a Novel Active Disturbance Rejection Control (N-ADRC) strategy is proposed that replaces the Linear Extended state observer (LESO) used in Conventional ADRC (C-ADRC) with a Nested LESO. In the nested LESO, the inner-loop LESO…
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)…
Traditional approaches to measurement in upper-limb therapy have gaps that electronic sensing and recording can help fill. We highlight shortcomings in current kinematic recording devices, and we introduce a wrist sensing device that…
External feedback in the form of visual, auditory and tactile cues has been used to assist patients to overcome mobility challenges. However, these cues can become less effective over time. There is limited research on adapting cues to…