Sensory feedback plays a significant role in generating walking gait and in gait transition in salamanders: a simulation study
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Thanks to better actuator technologies and control algorithms, humanoid robots to date can perform a wide range of locomotion activities outside lab environments. These robots face various control challenges like high dimensionality, contact switches durin ...
We present a new framework to generate human-like lower-limb trajectories in periodic and non-periodic walking conditions. In our method, walking dynamics is encoded in 3LP, a linear simplified model composed of three pendulums to model falling, swing and ...
The coordination of body and limbs motions contributes to effective propulsion in limed locomotion. However, there is lack of understanding that characterizes the mechanism underlying the body-limb coordination. The aim of this study involves clarifying th ...
Our brain continuously self-organizes to construct and maintain an internal representation of the world based on the information arriving through sensory stimuli. Remarkably, cortical areas related to different sensory modalities appear to share the same f ...
Bipedal locomotion is a challenging task in the sense that it requires to maintain dynamic balance while steering the gait in potentially complex environments. Yet, humans usually manage to move without any apparent difficulty, even on rough terrains. This ...
Distinct gait characteristics like short steps and shuffling gait are prototypical signs commonly observed in Parkinson's disease. Routinely assessed by observation through clinicians, gait is rated as part of categorical clinical scores. There is an incre ...
Recent developments in lower extremities wearable robotic devices for the assistance and rehabilitation of humans suffering from an impairment have led to several successes in the assistance of people who as a result regained a certain form of locomotive c ...
This paper presents a novel functional electrical stimulation paradigm to generate locomotion in paraplegic patients. We propose a closed-loop surface functional electrical stimulation (sFES) of 16 lower-limb muscles to produce all subphases of the gait. T ...
Wearable devices to assist abnormal gaits require controllers that interact with the user in an intuitive and unobtrusive manner. To design such a controller, we investigated a bio-inspired walking controller for orthoses and prostheses. We present (i) a S ...