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Powered hip exoskeletons have shown the ability for locomotion assistance during treadmill walking. However, providing suitable assistance in real-world walking scenarios which involve changing terrain remains challenging. Recent research…

Semi-autonomous prosthesis controllers based on computer vision improve performance while reducing cognitive effort. However, controllers relying on full-depth data face challenges in being deployed as embedded prosthesis controllers due to…

This paper presents an algorithm that makes novel use of distance measurements alongside a constrained Kalman filter to accurately estimate pelvis, thigh, and shank kinematics for both legs during walking and other body movements using only…

We propose in this paper Periodic Interaction Primitives - a probabilistic framework that can be used to learn compact models of periodic behavior. Our approach extends existing formulations of Interaction Primitives to periodic movement…

Lower extremity amputees face challenges in natural locomotion, which is partially compensated using powered assistive systems, e.g., micro-processor controlled prosthetic leg. In this paper, a radar-based perception system is proposed to…

Cerebral palsy (CP) is the most prevalent motor disorder in childhood and often results in gait abnormalities that hinder mobility and diminish quality of life. Functional electrical stimulation (FES) has demonstrated potential in enhancing…

Robotic rehabilitation can deliver high-dose gait therapy and improve motor function after a stroke. However, for many devices, high costs and lengthy setup times limit clinical adoption. Thus, we designed, built, and evaluated the Passive…

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…

We present a personal mobility device for lower-body impaired users through a light-weighted exoskeleton on wheels. On its core, a novel passive exoskeleton provides postural transition leveraging natural body postures with support to the…

State-of-the-art motorized hand prostheses are endowed with actuators able to provide independent and proportional control of as many as six degrees of freedom (DOFs). The control signals are derived from residual electromyographic (EMG)…

Design of active orthosis is a challenging problem from both the dynamic simulation and control points of view. The redundancy problem of the simultaneous human-orthosis actuation is an interesting exercise to solve concerning the…

Synergies have been adopted in prosthetic limb applications to reduce complexity of design, but typically involve a single synergy setting for a population and ignore individual preference or adaptation capacity. However, personalization of…

Cost functions have the potential to provide compact and understandable generalizations of motion. The goal of Inverse Optimal Control (IOC) is to analyze an observed behavior which is assumed to be optimal with respect to an unknown cost…

Drug-induced parkinsonism affects many older adults with dementia, often causing gait disturbances. New advances in vision-based human pose-estimation have opened possibilities for frequent and unobtrusive analysis of gait in residential…

Summary: Walking is regulated through the motorcontrol system (MCS). The MCS consists of a network of neurons from the central nervous system (CNS) and the intraspinal nervous system (INS), which is capable of producing a syncopated output.…

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…

Wearable orthoses can function both as assistive devices, which allow the user to live independently, and as rehabilitation devices, which allow the user to regain use of an impaired limb. To be fully wearable, such devices must have…

This work presents a novel rehabilitation framework designed for a therapist, wearing an inertial measurement unit (IMU) suit, to virtually interact with a lower-limb exoskeleton worn by a patient with motor impairments. This framework aims…

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…

The stability of standing in humans is a complex process that leads to maintaining the upright position against external disturbances. Balance control during standing is of vital importance for humans in daily life. An issue that is still…