Related papers: Dynamic Gait Modelling of Lower Limb Dynamics : A …
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…
Upper extremity motor impairment affects about 80\% of persons after strokes. For stroke rehabilitation, upper limb kinematic assessments have increasingly been used as primary or secondary outcome measures. Studying the upper extremity…
For lower limb amputees, an active ankle joint prosthesis can provide basic mobility functions. This study focuses on an ankle joint prosthesis system based on the principle of electric-hydraulic actuation. By analyzing the characteristics…
Low back pain is one of the most common musculoskeletal disorder. To reduce its incidences, some back exoskeletons have been designed and already commercialized. However, there is a gap between the phases of device and testing on subjects.…
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. This is due to continued progress in three key areas: a mathematical understanding of locomotion, the computational ability to encode this…
An accurate motion model is an important component in modern-day robotic systems, but building such a model for a complex system often requires an appreciable amount of manual effort. In this paper we present a motion model representation,…
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…
Prior studies have produced models to predict metabolic rates based on experimental observations of isolated muscle contraction from various species. Such models can provide reliable predictions of metabolic rates in humans if muscle…
Gait adaptation is an important part of gait analysis and its neuronal origin and dynamics has been studied extensively. In neurorehabilitation, it is important as it perturbs neuronal dynamics and allows patients to restore some of their…
Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid body designs and an optical tracking volume setup for…
Quantification of human movement is a challenge in many areas, ranging from physical therapy to robotics. We quantify of human movement for the purpose of providing automated exercise coaching in the home. We developed a model-based…
The aim of this study is to assess the performances of the global optimisation (GO) method (Bone position estimation from skin marker co-ordinates using GO with joint constraints. Journal of Biomechanics 32, 129-134) within the upper limb…
Different loading modes can significantly affect human gait, posture, and lower limb biomechanics. This study investigated the muscle activity intensity of the lower limb soleus muscle in the slope environment of young healthy adult male…
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified test postures. It employs a low-cost measuring system…
Broader access to high-quality movement analysis could greatly benefit movement science and rehabilitation, such as allowing more detailed characterization of movement impairments and responses to interventions, or even enabling early…
With the increasing use of assistive robots in rehabilitation and assisted mobility of human patients, there has been a need for a deeper understanding of human-robot interactions particularly through simulations, allowing an understanding…
This study introduces a novel approach for deriving the governing equations of the musculoskeletal system in the human body. The proposed formalism offers a framework to effectively incorporate the kinematic characteristics of biological…
The fractality of human gait, namely, the long-range correlation that characterizes scale-free fluctuations of gait descriptors, such as the stride intervals during steady-state walking, depends on the well-tuned organization of the…
Existing digital human models approximate the human skeletal system using rigid bodies connected by rotational joints. While the simplification is considered acceptable for legs and arms, it significantly lacks fidelity to model rich torso…
Falls during daily ambulation activities are a leading cause of injury in older adults due to delayed physiological responses to disturbances of balance. Lower-limb exoskeletons have the potential to mitigate fall incidents by detecting and…