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Human locomotion involves continuously variable activities including walking, running, and stair climbing over a range of speeds and inclinations as well as sit-stand, walk-run, and walk-stairs transitions. Understanding the kinematics and…
Squatting is one of the most demanding lower-limb movements, requiring substantial muscular effort and coordination. Reducing the physical demands of this task through intelligent and personalized assistance has significant implications,…
Lower limb exoskeletons show promise to assist human movement, but their utility is limited by controllers designed for discrete, predefined actions in controlled environments, restricting their real-world applicability. We present an…
Recording muscle tendon junction displacements during movement, allows separate investigation of the muscle and tendon behaviour, respectively. In order to provide a fully-automatic tracking method, we employ a novel deep learning approach…
Controlling the interaction forces between a human and an exoskeleton is crucial for providing transparency or adjusting assistance or resistance levels. However, it is an open problem to control the interaction forces of lower-limb…
Spasticity is a common movement disorder symptom in individuals with cerebral palsy, hereditary spastic paraplegia, spinal cord injury and stroke, being one of the most disabling features in the progression of these diseases. Despite the…
To enable the broad adoption of wearable robotic exoskeletons in medical and industrial settings, it is crucial they can adaptively support large repertoires of movements. We propose a new human-machine interface to simultaneously drive…
Biomechanical and clinical gait research observes muscles and tendons in limbs to study their functions and behaviour. Therefore, movements of distinct anatomical landmarks, such as muscle-tendon junctions, are frequently measured. We…
Accurate detection of locomotion transitions, such as walk to sit, walk to stair ascent, and descent, is crucial to effectively control robotic assistive devices, such as lower-limb exoskeletons, as each locomotion mode requires specific…
Musculoskeletal and neurological disorders are the most common causes of walking problems among older people, and they often lead to diminished quality of life. Analyzing walking motion data manually requires trained professionals and the…
Contemporary approaches to solving various problems that require analyzing three-dimensional (3D) meshes and point clouds have adopted the use of deep learning algorithms that directly process 3D data such as point coordinates, normal…
Age-related mobility decline is frequently accompanied by a redistribution of joint kinetics, where older adults compensate for reduced ankle function by increasing demand on the hip. Paradoxically, this compensatory shift typically…
The last few decades have witnessed an emerging trend of wearable soft sensors; however, there are important signal-processing challenges for soft sensors that still limit their practical deployment. They are error-prone when displaced,…
Accurate estimation of a user's biological joint moment from wearable sensor data is vital for improving exoskeleton control during real-world locomotor tasks. However, most state-of-the-art methods rely on deep learning techniques that…
In rehabilitation, powered, and teleoperation exoskeletons, connecting the human body to the exoskeleton through binding attachments is a common configuration. However, the uncertainty of the tightness and the donning deviation of the…
The present study investigated the effect of a passive lower-limb exoskeleton on lumbar load and verified the effectiveness of biomechanical analysis for evaluating the physical burden while wearing the exoskeleton. Twelve healthy male…
Wearable robotics for lower-limb assistance have become a pivotal area of research, aiming to enhance mobility for individuals with physical impairments or augment the performance of able-bodied users. Accurate and adaptive control systems…
Musculoskeletal models have been widely used for detailed biomechanical analysis to characterise various functional impairments given their ability to estimate movement variables (i.e., muscle forces and joint moment) which cannot be…
Natural control of limb motion is continuous and progressively adaptive to individual intent. While intuitive interfaces have the potential to rely on the neuromuscular input by the user for continuous adaptation, continuous volitional…
Background: Lower limb exoskeletons can enhance quality of life, but widespread adoption is limited by the lack of frameworks to assess their biomechanical and human-robot interaction effects, which are essential for developing adaptive and…