As physiological signals that are closely related to human motion, surface electromyography
(sEMG) signals have been widely used in human-robot interaction systems (HRISs). Some …

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 …

Robotic leg prostheses promise to improve the mobility and quality of life of millions of
individuals with lower-limb amputations by imitating the biomechanics of the missing …

Control systems for powered prosthetic legs typically divide the gait cycle into several
periods with distinct controllers, resulting in dozens of control parameters that must be tuned …

We present a lightweight robotic knee prosthesis with a novel hybrid actuation system that
enables passive and active operation modes. The proposed hybrid knee uses a spring …

Objectives: The development of neurorehabilitation technologies requires the profound
understanding of the mechanisms underlying an individual's motor ability and impairment. A …

Amputation at the above-knee level severely impairs the ability of an individual to ambulate.
As ambulation requires power generation and active control of movements, the passive …

This work presents an electrophysiologically and dynamically consistent musculoskeletal
model to predict stiffness in the human ankle and knee joints as derived from the joints …

This review paper provides a synthetic yet critical overview of the key biomechanical
principles of human bipedal walking and their current implementation in robotic platforms …