Balance deficits are present in a variety of clinical populations and can negatively impact quality of life. The integration of wearable sensors and machine learning technology (ML) provides unique opportunities to quantify biomechanical characterist...
Lower-limb exoskeletons have the potential to transform the way we move, but current state-of-the-art controllers cannot accommodate the rich set of possible human behaviours that range from cyclic and predictable to transitory and unstructured. We i...
Locomotive syndrome (LS) refers to a condition where individuals face challenges in performing activities of daily living. Early detection of such deterioration is crucial to reduce the need for nursing care. The Geriatric Locomotive Function Scale (...
Most birds can navigate seamlessly between aerial and terrestrial environments. Whereas the forelimbs evolved into wings primarily for flight, the hindlimbs serve diverse functions such as walking, hopping and leaping, and jumping take-off for transi...
Complex biological systems have evolved to control movement dynamics despite noisy and unpredictable inputs and processing delays that necessitate forward predictions. The staple example in vertebrates is the locomotor control emerging from interacti...
Inching-locomotion caterpillars (ILAR) inspire the design of 'inch-worm' robots with biomimicry features, that can be adapted to different environments, such as natural, man-made, or other planets. Therefore, this work defines a novel mathematical me...
Four-legged robots are becoming increasingly pivotal in navigating challenging environments, such as construction sites and disaster zones. While substantial progress in robotic mobility has been achieved using reinforcement learning techniques, quad...
Earthworm-like robots have excellent locomotion capability in confined environments. Central pattern generator (CPG) based controllers utilize the dynamics of coupled nonlinear oscillators to spontaneously generate actuation signals for all segments,...
A transverse ledge brachiation robot is designed to move transversely along a ledge on a vertical wall by generating energy from the swinging motion of its lower limbs. This method reduces the force required by the upper limbs to propel the robot for...
Animals have to navigate complex environments and perform intricate swimming maneuvers in the real world. To conquer these challenges, animals evolved a variety of motion control strategies. While it is known that many factors contribute to motion co...