Prosthetics and Rehabilitation Robotics

Optimized Mappings from Biological Hip Moment Estimates to Exoskeleton Torque can Personalize Assistance Across Users and Generalize Across Tasks

This study develops a personalized exoskeleton control method that reduces metabolic cost by optimizing mappings from biological joint moments to torque, showing greater benefits than non-personalized approaches.

Can predictive simulations of walker-assisted gait using calibrated muscle models capture subject-specific walking features in individuals with spinal cord injury?

This paper evaluates if predictive simulations with calibrated muscle models can replicate subject-specific gait features in spinal cord injury patients, finding partial success with functional calibration methods.

Validation of Dynamic Bayesian Optimization for a Non-Stationary Human-in-the-Loop Optimization Problem

This study compares dynamic Bayesian optimization (DBO) and Bayesian optimization (BO) in a human-in-the-loop system, finding DBO better handles non-stationary behavior in later training stages.

Modeling the Biomechanical Features Affecting the Metabolic Rate of Walking with a Powered Ankle-Foot Prosthesis

The paper models biomechanical factors affecting metabolic rate during walking with a powered ankle-foot prosthesis using machine learning, identifying key features that significantly influence metabolic rate.

Gait adaptation to asymmetric foot-ground compliance applied by robotic footwear

This study uses robotic footwear to induce asymmetrical ground stiffness perturbations and quantifies gait adaptations in participants, showing shifts in neuromotor control toward the unperturbed limb.

Biofeedback speeds adaptation to exoskeleton gait assistance

This study shows that visual biofeedback helps users adapt faster to ankle exoskeletons, doubling energy savings and achieving results in one-quarter the time.

Adjustable Compliance Footwear Technology to Investigate Gait Adaptation

This paper introduces adjustable compliance footwear to study gait adaptation during treadmill and overground walking, demonstrating its ability to rapidly change midsole compliance and measure sole deflection.

OpenExo: An Open-Source Modular Exoskeleton to Augment Human Function

The paper introduces OpenExo, an open-source modular exoskeleton framework to reduce development barriers and encourage research in wearable robotics.

A passive upper-limb exoskeleton effectively reduces shoulder muscle activity over a large shoulder workspace

This study evaluates an upper-limb exoskeleton's effectiveness in reducing shoulder muscle activity across a large shoulder workspace, finding reduced deltoid activity and trade-offs in user comfort with increased support.

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.

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.