Related papers: A Multifractal Dynamical Model of Human Gait

The motor cortex (MC) is often described as an autonomous dynamical system during movement execution. In an autonomous dynamical system, flexible movement generation depends on reconfiguring the initial conditions, which then unwind along…

We investigate if known extrinsic and intrinsic factors fully account for the complex features observed in recordings of human activity as measured from forearm motion in subjects undergoing their regular daily routine. We demonstrate that…

We present a novel generative model, called Bidirectional GaitNet, that learns the relationship between human anatomy and its gait. The simulation model of human anatomy is a comprehensive, full-body, simulation-ready, musculoskeletal model…

In this paper, previous works on the Model Predictive Control (MPC) and the Divergent Component of Motion (DCM) for bipedal walking control are extended. To this end, we employ a single MPC which uses a combination of Center of Pressure…

We introduce oscillatory analogues of fractional Brownian motion, sub-fractional Brownian motion and other related long range dependent Gaussian processes, we discuss their properties, and we show how they arise from particle systems with…

In this work, we present an extension to a linear Model Predictive Control (MPC) scheme that plans external contact forces for the robot when given multiple contact locations and their corresponding friction cone. To this end, we set up a…

This paper proposes a novel orientation-aware model predictive control (MPC) for dynamic humanoid walking that can plan footstep locations online. Instead of a point-mass model, this work uses the augmented single rigid body model (aSRBM)…

We investigate random walks on complex networks and derive an exact expression for the mean first passage time (MFPT) between two nodes. We introduce for each node the random walk centrality $C$, which is the ratio between its coordination…

Human walking is a complex activity with a high level of cooperation and interaction between different systems in the body. Accurate detection of the phases of the gait in real-time is crucial to control lower-limb assistive devices like…

Movement disorders, such as Parkinson's disease, affect more than 10 million people worldwide. Gait analysis is a critical step in the diagnosis and rehabilitation of these disorders. Specifically, step length provides valuable insights…

A fundamental problem in neuroscience is to understand how sequences of action potentials ("spikes") encode information about sensory signals and motor outputs. Although traditional theories of neural coding assume that information is…

The human foot serves as the critical interface between the body and environment during locomotion. Existing musculoskeletal models typically oversimplify foot-ground contact mechanics, limiting their ability to accurately simulate human…

This paper proposes an approach estimating a gait abnormality index based on skeletal information provided by a depth camera. Differently from related works where the extraction of hand-crafted features is required to describe gait…

Previous gait phase detection as convolutional neural network (CNN) based classification task requires cumbersome manual setting of time delay or heavy overlapped sliding windows to accurately classify each phase under different test cases,…

The control of bipedal robotic walking remains a challenging problem in the domains of computation and experiment, due to the multi-body dynamics and various sources of uncertainty. In recent years, there has been a rising trend towards…

In this paper, it is presented the well known aspect of non linearity of internal human body structures. Similarity on the basis of the Fractional Brownian Motion from the static ones, as the geometrical fractals like the Intestine and…

Matrix-based centrality measures have enjoyed significant popularity in network analysis, in no small part due to our ability to rigorously analyze their behavior as parameters vary. Recent work has considered the relationship between…

Gait asymmetry, a consequence of various neurological or physical conditions such as aging and stroke, detrimentally impacts bipedal locomotion, causing biomechanical alterations, increasing the risk of falls and reducing quality of life.…

This paper seeks insight into stabilization mechanisms for periodic walking gaits in 3D bipedal robots. Based on this insight, a control strategy based on virtual constraints, which imposes coordination between joints rather than a temporal…

An understanding how neurological disorders lead to mechanical dysfunction of the esophagus requires knowledge of the neural circuit of the enteric nervous system. Historically, this has been elusive. Here, we present an empirically guided…