J. Maxwell Donelan

This study compares feedforward and feedback control in animals of different sizes, finding that feedforward control is more effective for rapid perturbation responses across all sizes.

This paper develops a control model for bipedal walking that adapts to varying step lengths and frequencies using feedback control and additional actuation, achieving human-like response times.

This study examines how neuromuscular fatigue affects the speed and accuracy of leg force control during movement.

This study shows that energy optimization during walking is primarily an implicit process, with participants adapting to energy-efficient gaits without conscious awareness.

This study tests if steeper gradients of energetic cost during walking trigger adaptation, finding no spontaneous adaptation to steeper gradients but adaptation when cost savings are explicitly induced.

This study shows that people adapt their walking strategy over prolonged split-belt treadmill use to reduce energy cost by acquiring positive work from the treadmill.

The paper quantifies inertial delays in terrestrial mammals across movement magnitudes and sizes, finding they scale with mass and dominate motor control challenges in larger animals.

This study shows that split-belt treadmill walking adaptation involves adjusting step length asymmetry to extract mechanical work from the treadmill, reducing metabolic cost and improving walking economy.

This paper presents a mechatronic system that applies controlled forces to study how the nervous system optimizes energy cost during walking.

This study shows that the nervous system optimizes energy cost to determine preferred step width during walking, but does so incompletely, suggesting trade-offs with other objectives.

This study investigates how the nervous system initiates and converges on optimal gaits during energy optimization using human experiments and reinforcement learning models.