Human-in-the-loop optimization of hip assistance with a soft exosuit during walking
Wearable robotic devices have been shown to substantially reduce the energy expenditure
of human walking. However, response variance between participants for fixed control …
of human walking. However, response variance between participants for fixed control …
Evaluation of a fused sonomyography and electromyography-based control on a cable-driven ankle exoskeleton
This article presents an assist-as-needed (AAN) control framework for exoskeleton
assistance based on human volitional effort prediction via a Hill-type neuromuscular model …
assistance based on human volitional effort prediction via a Hill-type neuromuscular model …
Reducing squat physical effort using personalized assistance from an ankle exoskeleton
P Kantharaju, H Jeong, S Ramadurai… - … on Neural Systems …, 2022 - ieeexplore.ieee.org
Exoskeletons can assist humans during squatting and the assistance has the potential to
reduce the physical demands. Although several squat assistance methods are available, the …
reduce the physical demands. Although several squat assistance methods are available, the …
Onset timing of treadmill belt perturbations influences stability during walking
Split-belt treadmills have become popular tools for investigating stability during walking by
using belt accelerations to induce slip-like perturbations. While the onset timing of …
using belt accelerations to induce slip-like perturbations. While the onset timing of …
Foot contact forces can be used to personalize a wearable robot during human walking
Individuals with below-knee amputation (BKA) experience increased physical effort when
walking, and the use of a robotic ankle-foot prosthesis (AFP) can reduce such effort. The …
walking, and the use of a robotic ankle-foot prosthesis (AFP) can reduce such effort. The …
Effect of hip abduction assistance on metabolic cost and balance during human walking
The use of wearable robots to provide walking assistance has rapidly grown over the past
decade, with notable advances made in robot design and control methods toward reducing …
decade, with notable advances made in robot design and control methods toward reducing …
A novel framework to facilitate user preferred tuning for a robotic knee prosthesis
The tuning of robotic prosthesis control is essential to provide personalized assistance to
individual prosthesis users. Emerging automatic tuning algorithms have shown promise to …
individual prosthesis users. Emerging automatic tuning algorithms have shown promise to …
Simulating the effect of ankle plantarflexion and inversion-eversion exoskeleton torques on center of mass kinematics during walking
NA Bianco, SH Collins, K Liu… - PLoS Computational …, 2023 - journals.plos.org
Walking balance is central to independent mobility, and falls due to loss of balance are a
leading cause of death for people 65 years of age and older. Bipedal gait is typically …
leading cause of death for people 65 years of age and older. Bipedal gait is typically …
A controller for walking derived from how humans recover from perturbations
V Joshi, M Srinivasan - Journal of The Royal Society …, 2019 - royalsocietypublishing.org
Humans can walk without falling despite some external perturbations, but the control
mechanisms by which this stability is achieved have not been fully characterized. While …
mechanisms by which this stability is achieved have not been fully characterized. While …
Step-to-step ankle inversion/eversion torque modulation can reduce effort associated with balance
M Kim, SH Collins - Frontiers in neurorobotics, 2017 - frontiersin.org
Below-knee amputation is associated with higher energy expenditure during walking,
partially due to difficulty maintaining balance. We previously found that once-per-step push …
partially due to difficulty maintaining balance. We previously found that once-per-step push …