In this work, we study the nonlinear dynamics of tail motion using numerical simulations and experiments. Our simulations are based on a discrete model comprising rigid cylinders (representing vertebrae) coupled by longitudinal, shear, and bending sp...
Stick insects exhibit remarkable adaptive walking capabilities across diverse environments; however, the mechanisms underlying their gait transitions remain poorly understood. Although reinforcement learning (RL) has been employed to generate insect-...
During walking and running, animals display rich and coordinated motor patterns that are generated and controlled within the central nervous system. Previous computational and experimental results suggest that the balance between excitation and inhib...
The relationship between morphology and locomotion performance in amphibious fish remains poorly understood, particularly in axial-appendage-based and appendage-based movements. To address this, we introduce Polymander, a reconfigurable robot capable...
Entomopathogenic nematodes (EPNs) exhibit a bending-elastic instability, or kink, before becoming airborne, a feature previously hypothesized but not substantiated to enhance jumping performance. Here, we provide the evidence that this kink is crucia...
IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
Apr 16, 2025
The coordination of muscles in human locomotion is commonly understood as the integration of motor modules known as muscle synergies. Recent research has delved into the adaptation of muscle synergies during the acquisition of new motor skills. Howev...
Proceedings of the National Academy of Sciences of the United States of America
Apr 8, 2025
Engineering small autonomous agents capable of operating in the microscale environment remains a key challenge, with current systems still evolving. Our study explores the fruit fly, , a classic model system in biology and a species adept at microsca...
ETHNOPHARMACOLOGICAL RELEVANCE: Niuhuang Jiedu (NHJD) is a Chinese medicine prescription containing realgar (AsS), which is neurotoxic, and seven other traditional Chinese medicines (TCMs). However, whether the multiple TCMs contained in NHJD can mit...
Most walking organisms tend to have relatively light limbs and heavy bodies in order to facilitate rapid limb motion. However, the limbs of brittle stars (Class Ophiuroidea) are primarily comprised of dense skeletal elements, with potentially much hi...
IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
Mar 26, 2025
Current surface electromyography (sEMG) methods for locomotion mode prediction face limitations in anticipatory capability due to computation delays and constrained window lengths typically below 500 ms-a practice historically tied to stationarity re...
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