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Powered lower limb exoskeletons are a viable solution for people with a spinal cord injury to regain mobility for their daily activities. However, the commonly employed rigid actuation and pre-programmed trajectories increase the risk of…
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…
Partial-assistance exoskeletons hold significant potential for gait rehabilitation by promoting active participation during (re)learning of normative walking patterns. Typically, the control of interaction torques in partial-assistance…
In this paper, we introduce a consistency-driven dual LSTM framework for accurately learning both the forward and inverse kinematics of a pneumatically actuated soft robotic arm integrated into a wearable device. This approach effectively…
The present study focused on the effects of trunk extensor muscles fatigue on postural control during quiet standing under different somatosensory conditions from the foot and the ankle. With this aim, 20 young healthy adults were asked to…
During the steady gait, humans stabilize their head around the vertical orientation. While there are sensori-cognitive explanations for this phenomenon, its mechanical e fect on the body dynamics remains un-explored. In this study, we take…
This paper investigates the nonlinear dynamics of stepping flexible frames under seismic excitation. The conventional iterative method of solution of peak quasi-dynamic displacement of stepping frames is not guaranteed to converge. To…
Supernumerary robotic limbs (SLs) have the potential to transform a wide range of human activities, yet their usability remains limited by key technical challenges, particularly in ensuring safety and achieving versatile control. Here, we…
Spinal cord injuries generally result in sensory and mobility impairments, with torso instability being particularly debilitating. Existing torso stabilisers are often rigid and restrictive. We present an early investigation into a…
Non-conservative loads of the follower type are usually believed to be the source of dynamic instabilities such as flutter and divergence. It is shown that these instabilities (including Hopf bifurcation, flutter, divergence, and…
In this paper, we present an integrated human-in-the-loop simulation paradigm for the design and evaluation of a lower extremity exoskeleton that is elastically strapped onto human lower limbs. The exoskeleton has 3 rotational DOFs on each…
Postural stability is one of the most crucial elements in bipedal locomotion. Bipeds are dynamically unstable and need to maintain their trunk upright against the rotations induced by the ground reaction forces (GRFs), especially when…
Cadaveric studies have provided important insights into the mechanics of the human foot arch and plantar fascia. However, repeatedly probing posture-dependent viscoelastic responses immediately after landing impact is difficult in…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has…
A simple model for solid friction is analyzed. It is based on tangential springs representing interlocked asperities of the surfaces in contact. Each spring is given a maximal strain according to a probability distribution. At their maximal…
This paper is devoted to the study of tilt stability of local minimizers for classical nonlinear programs with equality and inequality constraints in finite dimensions described by twice continuously differentiable functions. The importance…
Control strategies for active prostheses or orthoses use sensor inputs to recognize the user's locomotive intention and generate corresponding control commands for producing the desired locomotion. In this paper, we propose a learning-based…
Strain gradient elasticity and nonlocal elasticity are two enhanced elastic theories intensively used over the last fifty years to explain static and dynamic phenomena that classical elasticity fails to do. The nonlocal elastic theory has a…
Accurate event detection is key to the successful design of semi-passive and powered prosthetics. Kinematically, the natural knee is complex, with translation and rotation components that have a substantial impact on gait characteristics.…