A unified framework is established for general balance stability criteria of biped systems. The
stability regions of balanced and steppable states are partitions of the center-of-mass (COM) …

The assessment of the risk of falling during robot-assisted locomotion is critical for gait
control and operator safety, but has not yet been addressed through a systematic and …

Computer interfaces with visual biofeedback (BF) capabilities in robot-assisted gait training
applications can help design subject-specific therapies, define tasks based on the patient's …

The widely used stability parameter, the zero moment point (ZMP), which is usually defined
on the ground, is redefined, in this paper, in two different ways to acquire a more general …

This study explores an alternative approach to the study and investigation of foot drop
(weakness of the dorsiflexion muscles of the foot) problem which currently being treated by …

Human–robot collaboration is one of the most challenging fields in robotics, as robots must
understand human intentions and suitably cooperate with them in the given circumstances …

For many planar bipedal models, each step is divided into a finite time single support period
and an instantaneous double support period. During single support, the biped is typically …

Walking machines may be used for both walking and manipulation objectives. A walking
robot can walk to a target and then do manipulation. For the manipulation objectives …

To achieve walking and push recovery successfully, a biped robot must be able to determine
if it can maintain its current contact configuration or transition into another one without falling …

Mobility has been one of the most impacted aspects of human life due to the spread of the
COVID-19 pandemic. Home confinement, the lack of access to physical rehabilitation, and …