IEEE Transactions on Biomedical Engineering

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The impact of ACL laxity on a bicondylar robotic knee and implications in human joint biomechanics
A robot model of the human knee provides a new way to investigate joint biomechanics. The specially designed joint has geometry copied from human bones scans and uses springs for ligaments. A knee cap (patella) and tendons transmit forces from an antagonistic pair of actuators, like in the human leg. This method overcomes many of the experimental limitations from using human tissue. The robot demonstrates the unique way in which the sliding of the joint surfaces allows the human knee mechanism to compensate when critical structures such as the anterior cruciate ligaments (ACL) are removed... Read more
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A Biocompatible Near-Infrared 3D Tracking System
A fundamental challenge in soft-tissue surgery is that target tissue moves and deforms, becomes occluded by blood or other tissue, and is difficult to differentiate from surrounding tissue. To overcome these problems, we developed biocompatible near-infrared fluorescent (NIRF) markers with... Read more
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Simulation-Based Design for Wearable Robotic Systems: An Optimization Framework for Enhancing a Standing Long Jump
Wearable robotic devices offer great potential to improve human performance for various movement tasks, but the success of these devices has been limited by our insufficient understanding of the complex interactions between the human and assistive device. With computer simulation... Read more
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Variable Cadence Walking and Ground Adaptive Standing With a Powered Ankle Prosthesis
This paper describes a control approach that provides walking and standing functionality for a powered ankle prosthesis, and demonstrates the efficacy of the approach in experiments with a unilateral transtibial amputee subject. Both controllers incorporate a finite-state structure that emulates... Read more