相关论文: MLP Based Continuous Gait Recognition of a Powered…

Generally, humanoid robots usually suffer significant impact force when walking or running in a non-predefined environment that could easily damage the actuators due to high stiffness. In recent years, the usages of passive, compliant…

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…

Lower limb exoskeletons (LLEs) present the potential to make motor-impaired individuals walk again. Their application in real-world environments is still limited by the lack of effective adaptive gait planning. Indeed, current exoskeletons…

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…

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…

To reproduce natural standing-up motion, recent studies have emphasized the importance of coordination between the assisting robot and the human. However, many non-wearable assistive devices have struggled to replicate natural motion…

This paper presents a novel neuromorphic control architecture for upper-limb prostheses that combines surface electromyography (sEMG) with gaze-guided computer vision. The system uses a spiking neural network deployed on the neuromorphic…

Existing robotic lower-limb prostheses use autonomous control to address cyclic, locomotive tasks, but they are inadequate to operate the prosthesis for daily activities that are non-cyclic and unpredictable. To address this challenge, this…

We present a highly functional and cost-effective prosthesis for transfemoral amputees that uses series elastic actuators. These actuators allow for accurate force control, low impedance and large dynamic range. The design involves one…

Lower limb exoskeletons and prostheses require precise, real time gait phase and step detections to ensure synchronized motion and user safety. Conventional methods often rely on complex force sensing hardware that introduces control…

Passive dynamic walkers are widely adopted as a mathematical model to represent biped walking. The stable locomotion of these models is limited to tilted surfaces, requiring gravitational energy. Various techniques, such as actuation…

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…

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…

Many people suffer from the loss of a limb. Learning to get by without an arm or hand can be very challenging, and existing prostheses do not yet fulfil the needs of individuals with amputations. One promising solution is to provide greater…

This study proposes a reinforcement learning-based adaptive running motion simulation for a unilateral transtibial amputee with the flexibility of a leaf-spring-type sports prosthesis using hybrid-link system. The design and selection of…

Knowledge on joint impedance during walking in various conditions is relevant for clinical decision-making and the development of robotic gait trainers, leg prostheses, leg orthotics and wearable exoskeletons. Whereas ankle impedance 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…

People with lower-limb loss, the majority of which use passive prostheses, exhibit a high incidence of falls each year. Powered lower-limb prostheses have the potential to reduce fall rates by actively helping the user recover from a…

Wearable technology for the automatic detection of gait events has recently gained growing interest, enabling advanced analyses that were previously limited to specialist centres and equipment (e.g., instrumented walkway). In this study, we…

This paper presents an active stabilization method for a fully actuated lower-limb exoskeleton. The method was tested on the exoskeleton ATALANTE, which was designed and built by the French start-up company Wandercraft. The main objective…