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Environment awareness is crucial for enhancing walking safety and stability of amputee wearing powered prosthesis when crossing uneven terrains such as stairs and obstacles. However, existing environmental perception systems for prosthesis…

Powered prostheses are capable of providing net positive work to amputees and have advanced in the past two decades. However, reducing amputee metabolic cost of walking remains an open problem. The Law of Intersegmental Coordination (ISC)…

Optimization of energy cost determines average values of spatio-temporal gait parameters such as step duration, step length or step speed. However, during walking, humans need to adapt these parameters at every step to respond to exogenous…

Ankle proprioceptive deficits are common after stroke and occur independently of ankle motor impairments. Despite this independence, some studies have found that ankle proprioceptive deficits predict gait function, consistent with the…

Although there has been recent progress in control of multi-joint prosthetic legs for rhythmic tasks such as walking, control of these systems for non-rhythmic motions and general real-world maneuvers is still an open problem. In this…

Lower limb amputation affects millions worldwide, leading to impaired mobility, reduced walking speed, and limited participation in daily and social activities. Powered prosthetic knees can partially restore mobility by actively assisting…

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…

Impedance-based control represents a prevalent strategy in the powered trans femoral prostheses because of its ability to reproduce natural walking. However, most existing studies have developed impedance-based prosthesis controllers for…

Lower-limb prosthesis wearers are more prone to falling than non-amputees. Powered prostheses can reduce this instability of passive prostheses. While shown to be more stable in practice, powered prostheses generally use model-independent…

Recognizing and identifying human locomotion is a critical step to ensuring fluent control of wearable robots, such as transtibial prostheses. In particular, classifying the intended locomotion mode and estimating the gait phase are key. In…

In this paper, we study dynamic stability during running, focusing on the effects of speed and the use of a leg prosthesis. We compute and compare the maximal Lyapunov exponents of kinematic time-series data from subjects with and without…

This survey paper concerns Sensor Fusion for Predictive Control of Human-Prosthesis-Environment Dynamics in Assistive Walking. The powered lower limb prosthesis can imitate the human limb motion and help amputees to recover the walking…

Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee requires an active prosthesis, but has the potential to enable…

Background. Wearable accelerometry devices allow collection of high-density activity data in large epidemiological studies both in-the-lab as well as in-the-wild (free-living). Such data can be used to detect and identify periods of…

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…

Humans typically walk at low speeds and run at higher speeds. Previous studies of transitions between walking and running were mostly on treadmills, but real-world locomotion allows more flexibility. Here, we study overground locomotion…

Small obstacles on the ground often lead to a fall when caught with commercial prosthetic feet. Despite some recently developed feet can actively control the ankle angle, for instance over slopes, their flat and rigid sole remains a cause…

In recent years, there have been a surge in ubiquitous technologies such as smartwatches and fitness trackers that can track the human physical activities effortlessly. These devices have enabled common citizens to track their physical…

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…

Powered ankle prostheses effectively assist people with lower limb amputation to perform daily activities. High performance prostheses with adjustable compliance and capability to predict and implement amputee's intent are crucial for them…