A patient-specific electromyography (EMG)-driven neuromuscular model (PENm) is developed for the potential use of human-inspired gait rehabilitation robots. The PENm is modified based on the current EMG-driven models by decreasing the calculation tim...
Unmanned ground vehicles are mostly wheeled, tracked, or legged. These locomotion mechanisms have a limited ability to traverse rough terrain and obstacles that are higher than the robot's center of mass. In order to improve the mobility of small rob...
Journal of neuroengineering and rehabilitation
Nov 4, 2015
BACKGROUND: Robotic ankle exoskeletons can provide assistance to users and reduce metabolic power during walking. Our research group has investigated the use of proportional myoelectric control for controlling robotic ankle exoskeletons. Previously, ...
Medical & biological engineering & computing
Oct 30, 2015
Gait variability reflects important information for the maintenance of human beings' health. For pathological populations, changes in gait variability signal the presence of abnormal motor control strategies. Quantitative analysis of the altered gait...
An exact classification of different gait phases is essential to enable the control of exoskeleton robots and detect the intentions of users. We propose a gait phase classification method based on neural networks using sensor signals from lower limb ...
This research proposes a new approach for the control of metameric robot locomotion via phase coordination. Unlike previous studies where global wave-like rules were pre-specified to construct the actuation sequence of segments, this phase coordinati...
The inverted pendulum is a popular model for describing bipedal dynamic walking. The operating point of the walker can be specified by the combination of initial mid-stance velocity (v0) and step angle (φm) chosen for a given walk. In this paper, usi...
In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of ...
Journal of neuroengineering and rehabilitation
Oct 14, 2015
BACKGROUND: Wearable sensor systems can provide data for at-home gait analyses and input to controllers for rehabilitation devices but they often have reduced estimation accuracy compared to laboratory systems. The goal of this study is to evaluate a...
Journal of neuroengineering and rehabilitation
Oct 14, 2015
Powered robotic exoskeletons are an emerging technology of wearable orthoses that can be used as an assistive device to enable non-ambulatory individuals with spinal cord injury (SCI) to walk, or as a rehabilitation tool to improve walking ability in...