Lower-limb prostheses aim to restore ambulatory function for individuals with lower-limb
amputations. While the design of lower-limb prostheses is important, this paper focuses on …

Technological advancements have led to the development of numerous wearable robotic
devices for the physical assistance and restoration of human locomotion. While many …

In individuals with lower-limb amputations, robotic prostheses can increase walking speed,
and reduce energy use, the incidence of falls and the development of secondary …

Humans can precisely sense the position, speed, and torque of their body parts. This sense
is known as proprioception and is essential to human motor control. Although there have …

Soft exo-suit could facilitate walking assistance activities (such as level walking, upslope,
and downslope) for unimpaired individuals. In this article, a novel human-in-the-loop …

Robotic prostheses deliver greater function than passive prostheses, but we face the
challenge of tuning a large number of control parameters in order to personalize the device …

Most impedance-based walking controllers for powered knee–ankle prostheses use a finite
state machine with dozens of user-specific parameters that require manual tuning by …

Most commercially available prosthetic feet do not exhibit a biomimetic torque-angle
relationship, and are unable to modulate their mechanics to assist with other mobility tasks …

The human ankle joint plays a critical role during walking and understanding the
biomechanical factors that govern ankle behavior and provides fundamental insight into …

This article presents an assist-as-needed (AAN) control framework for exoskeleton
assistance based on human volitional effort prediction via a Hill-type neuromuscular model …