Prosthetics and Rehabilitation Robotics

Reproducible Research: Computational Design of Personalized Clinical Treatments for Walking Impairments Caused by Knee Osteoarthritis and Stroke

This paper provides detailed tutorials for creating personalized neuromusculoskeletal models and designing treatments for walking impairments in two clinical cases using the NMSM Pipeline.

Out-of-sight partners: autonomous wearable supernumerary limbs for dynamic co-manipulation

This study demonstrates that humans can effectively collaborate with autonomous wearable robotic limbs during dynamic tasks without visual feedback, achieving reliable task completion and high perceived safety.

Simulations predict that alterations in balance control contribute to the higher cost of walking with a prosthesis

The paper uses simulations to show that passive prostheses increase walking effort for both propulsion and stabilization, while active prostheses reduce effort but require full sensory feedback to fully restore metabolic cost.

MyoAssist 1.0: An Open-Source Framework for Neuromechanical Simulation of Physical Human-Device Interaction

MyoAssist 1.0 provides an open-source framework for simulating human-device interaction in assistive technologies, offering modular models and controller frameworks for research and development.

Optimization of Functional Electric Stimulation for Foot Drop Patients using Inertial Measurement Unit.

This paper designs an online feedback control system using IMU data to optimize FES strength for drop foot patients, correcting pathological gait.

Experiment-free learning of exoskeleton assistance is not an unsolved problem

The paper addresses criticisms of exoskeleton energy efficiency by analyzing published data, reviewing literature, and correcting methodological errors in a replication study, showing the problem is not unsolved.

Effects of Ankle Stiffness on Total Leg Kinematics, Mechanics, and Muscle Activation during Walking

This study examines how changes in ankle stiffness affect gait mechanics, muscle activation, and joint work during walking in healthy individuals.

Validation of Dynamic Bayesian Optimization for Human-in-the-Loop Optimization of Exoskeleton Control at User-Driven Walking Speed

This study validates dynamic Bayesian optimization (DBO) for human-in-the-loop exoskeleton control, showing it improves walking speed and personalization compared to standard Bayesian optimization (BO).

An Adjustable Offloading Ankle-Foot Orthosis: Design and Proof-of-Concept Biomechanical Verification

This paper introduces an adjustable ankle-foot orthosis (OLAFO) that provides controlled offloading during gait, demonstrating its feasibility through biomechanical testing in an able-bodied participant.

More Efficient Walking via Temporal and Spatial Energy Transfer in a Passive Biarticular Exosuit

This paper introduces BATEX, a biarticular exosuit that reduces metabolic cost by 7-9% during walking through energy-shuffling mechanisms.

Simulation-guided design of exotendons to reduce the energetic cost of running

This paper uses simulations to predict optimal exotendon designs for reducing running energy costs at higher speeds and validates these predictions experimentally.

Experiment-free learning of exoskeleton assistance remains an unsolved problem

The paper critiques a study claiming experiment-free exoskeleton control via simulation, highlighting unverified claims and physiological inconsistencies.

Multi-objective optimization-based design of a compliant gravity balancing orthosis: development and validation

This paper develops a multi-objective optimization framework for designing a compliant gravity balancing shoulder orthosis, validated through mechanical testing and in-vivo muscle activity reduction in healthy individuals.

Less is more: uncompensated gravity torques for intuitive EMG-based assistance with a robotic exoskeleton

This paper introduces an EMG-based controller for robotic exoskeletons that intentionally leaves gravity torque uncompensated, improving muscle effort reduction and kinematic performance in arm movements.

Role of Speed Regulation and Speed Modulation in Velocity-Field Based Control

This paper modifies a velocity-field based controller for lower limb exoskeletons to improve performance by adjusting the path speed parameter, showing reduced tracking error and increased knee motion.

Influence of an Exoskeleton on Inter and Intra Task Cycle Variations in Muscle Demands During Intermittent Bending

This study examines how an exoskeleton affects muscle demands during intermittent bending tasks, finding reduced back demands but increased retraction activity.

Guiding humans towards ergonomic postures using an active exoskeleton

This study uses an exoskeleton as biofeedback to guide participants toward ergonomic postures by inducing vibrations that encourage adaptation to reduce effort.

Predicting Savings in the Metabolic Cost of Running With an Exotendon

This paper uses simulations to predict energy savings from exotendons at 4 m/s, finding that longer, stiffer designs offer greater savings than shorter, more compliant ones.

Minimum biomechanical energy expenditure predicts upper-limb motor strategies in individuals with limb loss

This study proposes an optimal path planning framework for upper-limb motion that outperforms existing models in accuracy and computational efficiency for individuals with and without limb loss.

Forward Simulations of Walking on Surfaces with Asymmetric Mechanical Impedance: Insights for Gait Rehabilitation

This study uses a 2D optimal control model to simulate walking on asymmetric mechanical impedance platforms, identifying parameters that amplify propulsion asymmetries for gait rehabilitation.

Identifying an optimal anti-gravity assistance level for select functional shoulder movements: A simulation study

This study identifies an optimal anti-gravity assistance level for passive shoulder exoskeletons through biomechanical simulations, finding that 20-30% assistance minimizes muscle effort and maintains joint stability.

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.