Related papers: Dynamic Gait Modelling of Lower Limb Dynamics : A …
Recent advances in upper limb prostheses have led to significant improvements in the number of movements provided by the robotic limb. However, the method for controlling multiple degrees of freedom via user-generated signals remains…
The work presented in this report introduces a framework aimed towards learning to imitate human gaits. Humans exhibit movements like walking, running, and jumping in the most efficient manner, which served as the source of motivation for…
When executing whole-body motions, humans are able to use a large variety of support poses which not only utilize the feet, but also hands, knees and elbows to enhance stability. While there are many works analyzing the transitions involved…
Prosthetic limb abandonment remains an unsolved challenge as amputees consistently reject their devices. Current prosthetic designs often fail to balance human-like perfomance with acceptable device weight, highlighting the need for…
Prosthesis users can regain partial limb functionality, however, full natural limb mobility is rarely restored, often resulting in compensatory movements that lead to discomfort, inefficiency, and long-term physical strain. To address this…
Walking is a key movement of interest in biomechanics, yet gold-standard data collection methods are time- and cost-expensive. This paper presents a real-time, multimodal, high sample rate lower-limb motion capture framework, based on…
Human joint dynamic stiffness plays an important role in the stability of performance augmentation exoskeletons. In this paper, we consider a new frequency domain model of the human joint dynamics which features a complex value stiffness.…
The biomechanics of the human body allow humans a range of possible ways of executing movements to attain specific goals. Nevertheless, humans exhibit significant patterns in how they execute movements. We propose that the observed patterns…
Mobility impairment caused by limb loss is a significant challenge faced by millions of individuals worldwide. The development of advanced assistive technologies, such as prosthetic devices, has the potential to greatly improve the quality…
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…
This article explores assistive devices for upper limb movement in people with disabilities through a systematic review based on the PRISMA methodology. The studied devices encompass technologies ranging from orthoses to advanced robotics,…
Many biological phenomena such as locomotion, circadian cycles, and breathing are rhythmic in nature and can be modeled as rhythmic dynamical systems. Dynamical systems modeling often involves neglecting certain characteristics of a…
Motion disorders pose a significant global health concern and are often managed with pharmacological treatments that may lead to undesirable long-term effects. Current therapeutic strategies lack differentiation between healthy and…
Current studies on human locomotion focus mainly on solid ground walking conditions. In this paper, we present a biomechanic comparison of human walking locomotion on solid ground and sand. A novel dataset containing 3-dimensional motion…
While the use of technology to provide accurate and objective measurements of human movement performance is presently an area of great interest, efforts to quantify the performance of movement are hampered by the lack of a principled model…
A realistic human kinematic model that satisfies anatomical constraints is essential for human-robot interaction, biomechanics and robot-assisted rehabilitation. Modeling realistic joint constraints, however, is challenging as human arm…
Biomechanics and human movement research often involves measuring multiple kinematic or kinetic variables regularly throughout a movement, yielding data that present as smooth, multivariate, time-varying curves and are naturally amenable to…
Due to the redundancy of our motor system, movements can be performed in many ways. While multiple motor control strategies can all lead to the desired behavior, they result in different joint and muscle forces. This creates opportunities…
Creating haptic interfaces capable of rendering the rich sensation needed for dexterous manipulation is crucial for the advancement of human-in-the-loop telerobotic systems (HiLTS). One limiting factor has been the absence of detailed…
Gait phase-based control is a trending research topic for walking-aid robots, especially robotic lower-limb prostheses. Gait phase estimation is a challenge for gait phase-based control. Previous researches used the integration or the…