相关论文: A Piecewise Monotonic Gait Phase Estimation Model …

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…

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…

For amputees with powered transfemoral prosthetics, navigating obstacles or complex terrain remains challenging. This study addresses this issue by using an inertial sensor on the sound ankle to guide obstacle-crossing movements. A genetic…

Gait phase estimation based on inertial measurement unit (IMU) signals facilitates precise adaptation of exoskeletons to individual gait variations. However, challenges remain in achieving high accuracy and robustness, particularly during…

Positive biomechanical outcomes have been reported with lower-limb exoskeletons in laboratory settings, but these devices have difficulty delivering appropriate assistance in synchrony with human gait as the task or rate of phase…

With rapid advancements in exoskeleton hardware technologies, successful assessment and accurate control remain challenging. This study introduces a modular sensor-based system to enhance biomechanical evaluation and control in lower-limb…

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…

Accurate and rapid detection of gait phases is of utmost importance in achieving optimal performance of powered lower-limb prostheses and exoskeletons. With the increasing versatility and complexity of these robotic systems, there is a…

Over the past few years, the division of gait phases has emerged as a complex area of research that carries significant importance for various applications in the field of gait technologies. The accurate partitioning of gait phases plays a…

Lower limbs exoskeletons provide assistance during standing, squatting, and walking. Gait dynamics, in particular, implies a change in the configuration of the device in terms of contact points, actuation, and system dynamics in general. In…

To improve the control of wearable robotics for gait assistance, we present an approach for continuous locomotion mode recognition as well as gait phase and stair slope estimation based on artificial neural networks that include time…

Exoskeletons have been shown to effectively assist humans during steady locomotion. However, their effects on non-steady locomotion, characterized by nonlinear phase progression within a gait cycle, remain insufficiently explored,…

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…

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…

Gait analysis using computer vision is an emerging field in AI, offering clinicians an objective, multi-feature approach to analyse complex movements. Despite its promise, current applications using RGB video data alone are limited in…

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…

This work presents algorithms for the feedback-stabilised walking of bipedal humanoid robotic platforms, along with the underlying theoretical and sensorimotor frameworks required to achieve it. Bipedal walking is inherently complex and…

Step adjustment can improve the gait robustness of biped robots, however the adaptation of step timing is often neglected as it gives rise to non-convex problems when optimized over several footsteps. In this paper, we argue that it is not…

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…

Legged robot locomotion is a challenging task due to a myriad of sub-problems, such as the hybrid dynamics of foot contact and the effects of the desired gait on the terrain. Accurate and efficient state estimation of the floating base and…