The phase of human gait is difficult to quantify accurately in the presence of disturbances. In
contrast, recent bipedal robots use time-independent controllers relying on a mechanical …

This paper presents the experimental validation of a novel control strategy that unifies the
entire gait cycle of a powered knee-ankle prosthetic leg without the need to switch between …

Background The experimental study of stumble recovery is essential to better understanding
the reflexive mechanisms that help prevent falls as well as the deficiencies in fall-prone …

Neuromechanical simulations have been used to study the spinal control of human
locomotion which involves complex mechanical dynamics. So far, most neuromechanical …

Previous work has shown that it is possible to use a mechanical phase variable to accurately
quantify the progression through a human gait cycle, even in the presence of disturbances …

A starting point to achieve stable locomotion is synchronizing the leg joint kinematics during
the gait cycle. Some biped robots parameterize a nonlinear controller (eg, input-output …

Recently, the truss antennas with deployable tetrahedron unit mechanisms have been
successfully applied in orbit, owing to the advantages of large calibers, high accuracy, and …

Purpose Generally, humanoid robots usually suffer significant impact force when walking or
running in a non-predefined environment that could easily damage the actuators due to high …

An understanding of the time-varying mechanical impedance of the ankle during walking is
fundamental in the design of active ankle-foot prostheses and lower extremity rehabilitation …

This paper investigates upper-limb kinematic reaching responses during a mechanical
perturbation to understand interjoint arm coordination used towards powered prosthesis …