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 …

This review paper provides a synthetic yet critical overview of the key biomechanical
principles of human bipedal walking and their current implementation in robotic platforms …

The planar bipedal testbed MABEL contains springs in its drivetrain for the purpose of
enhancing both energy efficiency and agility of dynamic locomotion. While the potential …

The elastic stretch-shortening cycle of the Achilles tendon during walking can reduce the
active work demands on the plantarflexor muscles in series. However, this does not explain …

BACKGROUND: In stroke and multiple sclerosis patients, gait is frequently hampered by a
reduced ability to push-off with the ankle caused by weakness of the plantar-flexor muscles …

Individuals with unilateral below-knee amputation expend more energy than non-amputees
during walking and exhibit reduced push-off work and increased hip work in the affected …

The concept of dasiaLimit Cycle Walkingpsila in bipedal robots removes the constraint of
dynamic balance at every instance during gait. We hypothesize that this is crucial for the …

Background Individuals with below-knee amputation have more difficulty balancing during
walking, yet few studies have explored balance enhancement through active prosthesis …

A key challenge in robotic bipedal locomotion is the design of feedback controllers that
function well in the presence of uncertainty, in both the robot and its environment. This paper …

Fast human walking includes a phase where the stance heel rises from the ground and the
stance foot rotates about the stance toe. This phase where the biped becomes …