AIMC Topic: Ankle
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Simulating Ideal Assistive Strategies to Reduce the Metabolic Cost of Walking in the Elderly.
IEEE transactions on bio-medical engineering
Aug 19, 2022
OBJECTIVE: Development of walking assist exoskeletons is a growing area of study, offering a solution to restore, maintain, and enhance mobility. However, applying this technology to the elderly is challenging and there is currently no consensus as t...
Policy Design for an Ankle-Foot Orthosis Using Simulated Physical Human-Robot Interaction via Deep Reinforcement Learning.
IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
Aug 11, 2022
This paper presents a novel approach for designing a robotic orthosis controller considering physical human-robot interaction (pHRI). Computer simulation for this human-robot system can be advantageous in terms of time and cost due to the laborious n...
Reducing the energy cost of walking with low assistance levels through optimized hip flexion assistance from a soft exosuit.
Scientific reports
Jun 29, 2022
As we age, humans see natural decreases in muscle force and power which leads to a slower, less efficient gait. Improving mobility for both healthy individuals and those with muscle impairments/weakness has been a goal for exoskeleton designers for d...
Deep learning-based acceleration of Compressed Sense MR imaging of the ankle.
European radiology
Jun 25, 2022
OBJECTIVES: To evaluate a compressed sensing artificial intelligence framework (CSAI) to accelerate MRI acquisition of the ankle.
A Deep Learning Approach for Gait Event Detection from a Single Shank-Worn IMU: Validation in Healthy and Neurological Cohorts.
Sensors (Basel, Switzerland)
May 19, 2022
Many algorithms use 3D accelerometer and/or gyroscope data from inertial measurement unit (IMU) sensors to detect gait events (i.e., initial and final foot contact). However, these algorithms often require knowledge about sensor orientation and use e...
Recognizing Continuous Multiple Degrees of Freedom Foot Movements With Inertial Sensors.
IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
Feb 28, 2022
Recognition of continuous foot motions is important in robot-assisted lower limb rehabilitation, especially in prosthesis and exoskeleton design. For instance, perceiving foot motion is essential feedback for the robot controller. However, few studie...
Individuals differ in muscle activation patterns during early adaptation to a powered ankle exoskeleton.
Applied ergonomics
Sep 30, 2021
Exoskeletons have the potential to assist users and augment physical ability. To achieve these goals across users, individual variation in muscle activation patterns when using an exoskeleton need to be evaluated. This study examined individual muscl...
How adaptation, training, and customization contribute to benefits from exoskeleton assistance.
Science robotics
Sep 29, 2021
Exoskeletons can enhance human mobility, but we still know little about why they are effective. For example, we do not know the relative importance of training, how much is required, or what type is most effective; how people adapt with the device; o...
Efficient bipedal locomotion on rough terrain via compliant ankle actuation with energy regulation.
Bioinspiration & biomimetics
Aug 12, 2021
Legged locomotion enables robotic platforms to traverse on rough terrain, which is quite challenging for other locomotion types, such as in wheeled and tracked systems. However, this benefit-moving robustly on rough terrain-comes with an inherent dra...
Selection of Muscle-Activity-Based Cost Function in Human-in-the-Loop Optimization of Multi-Gait Ankle Exoskeleton Assistance.
IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
May 28, 2021
Using "human-in-the-loop" (HIL) optimization can obtain suitable exoskeleton assistance patterns to improve walking economy. However, there are differences in these patterns under different gait conditions, and currently most HIL optimizations use me...
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