Related papers: Ground Compliance Improves Retention of Visual Fee…
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)…
BACKGROUND: Learning to perform new movements is usually achieved by following visual demonstrations. Haptic guidance by a force feedback device is a recent and original technology which provides additional proprioceptive cues during…
Large increases in visuomotor feedback gains occur during initial adaptation to novel dynamics, which we propose are due to increased internal model uncertainty. That is, large errors indicate increased uncertainty in our prediction of the…
Walking on compliant terrain presents a substantial challenge for individuals with lower-limb amputation, further elevating their already high risk of falling. While powered ankle-foot prostheses have demonstrated adaptability across speeds…
A sudden change in dynamics produces large errors leading to increases in muscle co-contraction and feedback gains during early adaptation. We previously proposed that internal model uncertainty drives these changes, whereby the…
Gait analysis from videos obtained from a smartphone would open up many clinical opportunities for detecting and quantifying gait impairments. However, existing approaches for estimating gait parameters from videos can produce physically…
Human motion understanding has advanced rapidly through vision-based progress in recognition, tracking, and captioning. However, most existing methods overlook physical cues such as joint actuation forces that are fundamental in…
With the growing interest in motion imitation learning (IL) for human biomechanics and wearable robotics, this study investigates how additional foot-ground interaction measures, used as reward terms, affect human gait kinematics and…
Spinal cord injuries frequently impair the ability to walk. Powered lower limb exoskeletons offer a promising solution to restore walking ability. However, they are currently restricted to even ground. We hypothesized that compliant…
This research aims to examine the effects of various vibrotactile feedback techniques on gait (i.e., walking patterns) in virtual reality (VR). Prior studies have demonstrated that gait disturbances in VR users are significant usability…
Reinforcement learning method is extremely competitive in gait generation techniques for quadrupedal robot, which is mainly due to the fact that stochastic exploration in reinforcement training is beneficial to achieve an autonomous gait.…
Quadruped animals seamlessly transition between gaits as they change locomotion speeds. While the most widely accepted explanation for gait transitions is energy efficiency, there is no clear consensus on the determining factor, nor on the…
Smart assistive technologies such as sensor-based footwear and walking aids offer promising opportunities for gait rehabilitation through real-time feedback and patient-centered monitoring. While biofeedback applications show great…
This paper develops a guidance control law based on a parametric Guiding Vector Field (GVF) and integrates it with a state-of-the-art acceleration and attitude control architecture for tailsitters. The resulting framework enables a direct…
For full-size humanoid robots, even with recent advances in reinforcement learning-based control, achieving reliable locomotion on complex terrains, such as long staircases, remains challenging. In such settings, limited perception,…
While visuomotor policy has made advancements in recent years, contact-rich tasks still remain a challenge. Robotic manipulation tasks that require continuous contact demand explicit handling of compliance and force. However, most…
This work developed a learning framework for perceptive legged locomotion that combines visual feedback, proprioceptive information, and active gait regulation of foot-ground contacts. The perception requires only one forward-facing camera…
Designing robots capable of traversing uneven terrain and overcoming physical obstacles has been a longstanding challenge in the field of robotics. Walking robots show promise in this regard due to their agility, redundant DOFs and…
Designing generalizable control policies for lower-limb exoskeletons remains fundamentally constrained by exhaustive data collection or iterative optimization procedures, which limit accessibility to clinical populations. To address this…
The vertical ground reaction force (vGRF) and its characteristic weight acceptance and push-off peaks measured during walking are important for gait and biomechanical analysis. Current wearable vGRF estimation methods suffer from drifting…