Since the advent of energy measurement devices, gait experiments have shown that
energetic economy has a large influence on human walking behavior. However, few cost …

Nowadays, the focus on the development of assistive devices just for people with mobility
disorders has shifted towards enhancing physical abilities of able-bodied humans. As a …

The amount of research on developing exoskeletons for human gait assistance has been
growing in the recent years. However, the control design of exoskeletons for assisting …

Assistive devices can be considered as one of the main applications of legged locomotion
research in daily life. In order to develop an efficient and comfortable prosthesis or …

Background In clinical practice, therapists choose the amount of assistance for robot-
assisted training. This can result in outcomes that are influenced by subjective decisions and …

Balance recovery after tripping often requires an active adaptation of foot placement. Thus
far, few attempts have been made to actively assist forward foot placement for balance …

The chapter focuses on three areas based on realization of neural control for gait
assistance. The neural control could be identified by applying neuronal signals to control …

In human locomotion, the complex structure of the human body is controlled such that
conceptual models (eg, the spring-loaded-inverted-pendulum model) can describe the …

Redundancy facilitates some of the most remarkable capabilities of humans, and is therefore
omni-present in our physiology. The relationship between redundancy in robotics and …

In this study, mechanical design and control of a novel parallel elastically actuated (PEA)
legged robot are presented. Motion under analysis is limited to vertical apex to apex …