Patient Motion Using a Computerized Leg Brace in Everyday Locomotion Tasks

Force-Based Motion Editing for Locomotion Tasks

This paper describes a fast technique for modifying motion sequences for complex articulated mechanisms in a way that preserves physical properties of the motion. This technique is relevant to the problem of teaching motion tasks by demonstration, because it allows a single example to be adapted to a range of situations. Motion may be obtained from any source; for example, it may be captured fr...

Optimizing Legged Locomotion Using Tunable Leg Stiffness

Running efficiently and successfully over unstructured terrain is an important and necessary characteristic for modern legged robots. Research suggests that a necessary step toward achieving this goal is to design legged robots with variable leg stiffness capabilities which can be controlled by the robot autonomously. The specific problem addressed in this research is to develop a wireless (inf...

Dependency Coefficient in Computerized GALS Examination Utilizing Motion Analysis Techniques

Objectives: The GALS (Gait, Arms, Legs and Spine) examination is a compact version of standard procedures used by rheumatologists to determine musculoskeletal disorders in patients. Computerization of such a clinical procedure is necessary to ensure an objective evaluation. This article presents the first steps in such an approach by outlining a procedure to use motion analysis techniques as a ...

A One-Piece Laminated Knee Locking Short Leg Brace*

Experimental Validation of Motor Primitive-Based Control for Leg Exoskeletons during Continuous Multi-Locomotion Tasks

An emerging approach to design locomotion assistive devices deals with reproducing desirable biological principles of human locomotion. In this paper, we present a bio-inspired controller for locomotion assistive devices based on the concept of motor primitives. The weighted combination of artificial primitives results in a set of virtual muscle stimulations. These stimulations then activate a ...