Fin kinematics is the key to thrust generation of oscillatory pectoral fins of manta rays. This could be one of the main reasons that fin designs of robotic manta rays are becoming more complex to simulate the fin kinematics more closely so as to gen...
Locomotion is a key aspect associated with ecologically relevant tasks for many organisms, therefore, survival often depends on their ability to perform well at these tasks. Despite this significance, we have little idea how different performance tas...
Journal of neuroengineering and rehabilitation
Mar 20, 2021
BACKGROUND: The ankle joint complex (AJC) is of fundamental importance for balance, support, and propulsion. However, it is particularly susceptible to musculoskeletal and neurological injuries, especially neurological injuries such as drop foot foll...
IEEE transactions on bio-medical engineering
Mar 18, 2021
Evaluating progress throughout a patient's rehabilitation episode is critical for determining the effectiveness of the selected treatments and is an essential ingredient in personalised and evidence-based rehabilitation practice. The evaluation proce...
Understanding how animals regulate their gait during locomotion can give biological insight and inspire controllers for robots. Why animals use the gallop at the highest speeds remains incompletely explained. Hypothesized reasons for galloping includ...
Muscle synergies are hypothesized to reflect connections among motoneurons in the spinal cord activated by central commands and sensory feedback. Robotic rehabilitation of upper limb in post-stroke subjects has shown promising results in terms of imp...
Tunas are flexible, high-performance open ocean swimmers that operate at high frequencies to achieve high swimming speeds. Most fish-like robotic systems operate at low frequencies (≤3 Hz) resulting in low swim speeds (≤1.5 body lengths per second), ...
The spring-loaded inverted pendulum model is similar to human walking in terms of the center of mass (CoM) trajectory and the ground reaction force. It is thus widely used in humanoid robot motion planning. A method that uses a velocity feedback cont...
IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
Mar 1, 2021
Individualized reference gait patterns for lower limb rehabilitation robots can greatly improve the effectiveness of rehabilitation. However, previous methods can only generate customized gait patterns at several fixed discrete walking speeds and gen...
This study examines a biology-inspired approach of using reconfigurable articulation to reduce the control requirement for soft robotic arms. We construct a robotic arm by assembling Kresling origami modules that exhibit predictable bistability. By s...
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