Prosthetics and Rehabilitation Robotics

Quantifying changes in individual-specific template-based representations of center-of-mass dynamics during walking with ankle exoskeletons using Hybrid-SINDy

This study uses Hybrid-SINDy to analyze changes in center-of-mass dynamics during walking with ankle exoskeletons in unimpaired adults and a post-stroke individual, finding no changes in unimpaired dynamics but increased rotary stiffness in the paretic leg with exoskeletons.

Gait adaptation to asymmetric hip stiffness applied by a robotic exoskeleton

This study shows that asymmetric hip stiffness from a robotic exoskeleton can induce gait adaptation similar to split-belt treadmill training.

Novel Neuromuscular Controllers with Simplified Muscle Model and Enhanced Reflex Modulation: A Comparative Study in Hip Exoskeletons

This paper develops and compares two neuromuscular controllers for hip exoskeletons, showing that a simplified muscle model and refined reflex modulation improve control performance.

Bilateral asymmetric hip stiffness applied by a robotic hip exoskeleton elicits kinematic and kinetic adaptation

This study shows that applying bilateral asymmetric hip stiffness via a robotic exoskeleton leads to kinematic and kinetic adaptations in walking, similar to split-belt treadmill training.

Should bionic limb control mimic the human body? Impact of control strategy on bionic hand skill learning

This study compares biomimetic and arbitrary control strategies for bionic hand training, finding that both improve control and embodiment, with biomimetic offering early advantages and arbitrary showing better generalization.

A machine learning approach to quantify individual gait responses to ankle exoskeletons

This study uses neural networks to quantify individual gait responses to ankle exoskeletons by modeling discrepancies between nominal and exoskeleton gait data.

How adaptation, training, and customization contribute to benefits from exoskeleton assistance

This study investigates how training, adaptation, and customization affect the effectiveness of ankle exoskeletons, finding that training and customization significantly reduce metabolic cost.

Predicting walking response to ankle exoskeletons using data-driven models

This study evaluates three data-driven phase-varying models to predict kinematic and myoelectric responses to ankle exoskeletons during walking, finding LPV models provide better accuracy than PV models for kinematic predictions.