Implementation of a Human Feedback-based Locomotion and its Control by means of a Feedforward Component inspired by Central Pattern Generators
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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 ...
This article presents a control algorithm framework with which a bipedal robot can perform a variety of gaits by only modifying a small set of control parameters. The controller drives a number of variables, called non-emergent variables, to their desired ...
Human locomotion shows fascinating abilities which are the results of the interplay between the environment, the biomechanics, the spinal cord, and modulation from higher control centers. How the different structures interact to generate meaningful behavio ...
We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions of the 3LP mode ...
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 ...
At initialization, artificial neural networks (ANNs) are equivalent to Gaussian processes in the infinite-width limit [12, 9], thus connecting them to kernel methods. We prove that the evolution of an ANN during training can also be described by a kernel: ...
There is a growing interest for turning biomechanics notably because it is a more challenging task than straight-line walking during which some gait impairments are increased. Detecting heel-strike (HS) and toe-off (TO) events using the trajectory of marke ...
Human walking speeds can be influenced by multiple factors, from energetic considerations to the time to reach a destination. Neurological deficits or lower-limb injuries can lead to slower walking speeds, and the recovery of able-bodied gait speed and beh ...
What happens in our brain when we make a decision? What triggers a neuron to send out a signal? What is the neural code? This textbook for advanced undergraduate and beginning graduate students provides a thorough and up-to-date introduction to the fields ...
Background. Clinical trials in spinal cord injury (SCI) primarily rely on simplified outcome metrics (ie, speed, distance) to obtain a global surrogate for the complex alterations of gait control. However, these assessments lack sufficient sensitivity to i ...