gait

Teleoperation of an ankle-foot prosthesis with a wrist exoskeleton

Author(s): Cara Gonzalez Welker, Vincent Louie Chiu, Alexandra Voloshina, Steven H. Collins, Allison M. Okamura
Teleoperation of an ankle-foot prosthesis with a wrist exoskeleton 150 150 IEEE Transactions on Biomedical Engineering (TBME)
This work aims to mimic sensorimotor control pathways disrupted after amputation with a system that allows a user to teleoperate their ankle-foot prosthesis with a wrist exoskeleton while receiving augmented sensory feedback. We present a novel wrist exoskeleton design and two control strategies that dictate ankle prosthesis behavior based on wrist input. We validate all system components with benchtop testing and demonstrate that one individual with transtibial amputation can accurately command desired wrist trajectories while walking. Systems like this have the potential to provide insight into human motor control and improve functional gait metrics for people with lower-limb amputation. read more
A New Modeling Method to Characterize the Stance Control Function of Prosthetic Knee Joints

A New Modeling Method to Characterize the Stance Control Function of Prosthetic Knee Joints

Author(s): Jan Andrysek, Jessica Tomasi, Matthew Leineweber, Arezoo Eshraghi
A New Modeling Method to Characterize the Stance Control Function of Prosthetic Knee Joints 170 177 IEEE Transactions on Biomedical Engineering (TBME)

Biomechanical models can inform design and optimization of prosthetic devices by connecting empirically-derived biomechanical data to device design parameters. A new method is presented to characterize the function of prosthetic…

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Full Body Musculoskeletal Model for Muscle-Driven Simulation of Human Gait

Full Body Musculoskeletal Model for Muscle-Driven Simulation of Human Gait

Author(s): Apoorva Rajagopal, Christopher L. Dembia, Matthew S. DeMers, Denny D. Delp, Jennifer L. Hicks, Scott L. Delp
Full Body Musculoskeletal Model for Muscle-Driven Simulation of Human Gait 170 177 IEEE Transactions on Biomedical Engineering (TBME)

Rajagopal, Christopher L. Dembia, Matthew S. DeMers, Denny D. Delp, Jennifer L. Hicks, and Scott L. Delp, Stanford University Human movement involves complex interactions between the neuromuscular and skeletal systems, many…

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Gait Characteristics When Walking on Different Slippery Walkways

Author(s): Mariah W. Whitmore, Levi Hargrove, Eric J. Perreault
Gait Characteristics When Walking on Different Slippery Walkways 170 177 IEEE Transactions on Biomedical Engineering (TBME)

Mariah W. Whitmore, Levi J. Hargrove, Eric J. Perreault, Northwestern University, Rehabilitation Institute of Chicago, USA The ability to change gait patterns in the presence of a slippery surface is essential…

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Biomechanical Effects of Stiffness in Parallel with the Knee Joint during Walking

Author(s): Kamran Shamaei, Massimo Cenciarini, Albert A. Adams, Karen N. Gregorczyk, Jeffrey M. Schiffman, Aaron M. Dollar
Biomechanical Effects of Stiffness in Parallel with the Knee Joint during Walking 708 738 IEEE Transactions on Biomedical Engineering (TBME)

  Lower-extremity exoskeletons have been actively investigated in the past few decades intending to augment the locomotion performance of able-bodied users in terms of metabolic cost, load carrying capacity, fatigue,…

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