A healthy gait pattern depends on an array of biomechanical features, orchestrated by the
central nervous system for economy and stability. Injuries and other pathologies can alter …

We examine two prevailing, yet surprisingly contradictory, theories of human walking. The
six determinants of gait are kinematic features of gait proposed to minimize the energetic …

The fields of control and robotics are working toward the development of bipedal robots that
can realize walking motions with the stability and agility of a human being. Dynamic models …

Background Powered ankle-foot exoskeletons can reduce the metabolic cost of human
walking to below normal levels, but optimal assistance properties remain unclear. The …

Recent powered (or robotic) prosthetic legs independently control different joints and time
periods of the gait cycle, resulting in control parameters and switching rules that can be …

This paper introduces an approach to control of physics-based characters based on high-
level features of movement, such as center-of-mass, angular momentum, and end-effectors …

Background Humans normally dissipate significant energy during walking, largely at the
transitions between steps. The ankle then acts to restore energy during push-off, which may …

Robotic prostheses have the potential to significantly improve mobility for people with lower-
limb amputation. Humans exhibit complex responses to mechanical interactions with these …

The human ankle produces a large burst of 'push-off'mechanical power late in the stance
phase of walking, reduction of which leads to considerably poorer energy economy. It is …

Technological advances in robotic hardware and software have enabled powered
exoskeletons to move from science fiction to the real world. The objective of this article is to …