Ground Perturbation Detection via Lower-Limb Kinematic States During Locomotion
Department of Mechanical Engineering, Carnegie Mellon University（机械工程系，卡内基梅隆大学）；Department of Kinesiology and Health Education, The University of Texas at Austin（运动科学与健康教育系，德克萨斯大学奥斯汀分校）
Maria T. Tagliaferri, Leonardo Campeggi, Owen N. Beck, Inseung Kang
Falls during daily ambulation activities are a leading cause of injury in older adults due to delayed physiological responses to disturbances of balance. Lower-limb exoskeletons have the potential to mitigate fall incidents by detecting and reacting to perturbations before the user. Although commonly used, the standard metric for perturbation detection, whole-body angular momentum, is poorly suited for exoskeleton applications due to computational delays and additional tunings. To address this, we developed a novel ground perturbation detector using lower-limb kinematic states during locomotion. To identify perturbations, we tracked deviations in the kinematic states from their nominal steady-state trajectories. Using a data-driven approach, we further optimized our detector with an open-source ground perturbation biomechanics dataset. A pilot experimental validation with five able-bodied subjects demonstrated that our model distinguished perturbed from unperturbed gait cycles with 98.8% accuracy and only a delay of 23.1% within the gait cycle, outperforming the benchmark by 47.7% in detection accuracy. The results of our study offer exciting promise for our detector and its potential utility to enhance the controllability of robotic assistive exoskeletons.
Lower-limb kinematics and kinetics during continuously varying human locomotion
University of Michigan（密歇根大学）；University of Texas at Dallas（得克萨斯大学达拉斯分校）；Shirley Ryan AbilityLab（雪莉瑞安能力实验室）；University of Texas at Austin（得克萨斯大学奥斯汀分校）；Northwestern University（西北大学）
Southern University of Science and Technology（南方科技大学）；The University of Hong Kong（香港大学）；School of Design（设计学院）；ZJU-University of Illinois Urbana-Champaign Institute（浙江大学-伊利诺伊大学厄巴纳-香槟分校联合研究所）；Zhejiang University（浙江大学）；System Design and Intelligent Manufacturing（系统设计与智能制造学院）；Design & Learning Research Group（设计与学习研究组）
DePaul University（德保罗大学）；Ohio State University（俄亥俄州立大学）；Imperial College London（帝国理工学院）；Georgia Institute of Technology（佐治亚理工学院）；Louisiana State University（路易斯安那州立大学）；Texas A&M University（得克萨斯农工大学）
Learning Neural Observer-Predictor Models for Limb-level Sampling-based Locomotion Planning
Department of Mechanical Engineering, University of Delaware（德克萨斯大学机械工程系）；School of Mechanical Engineering, National Technical University of Athens（希腊国家技术大学机械工程学院）
A general locomotion control framework for multi-legged locomotors
Georgia Institute of Technology（佐治亚理工学院）；Emory University（埃默里大学）；National University of Singapore（新加坡国立大学）；Carnegie Mellon University（卡内基梅隆大学）；Morehouse College（莫尔豪斯学院）；Pennsylvania State University（宾夕法尼亚州立大学）；Rancho Research Institute（兰乔研究所）；Royal Veterinary College（皇家兽医学院）；University of Oviedo（奥维耶多大学）
Evolutionary Morphology Towards Overconstrained Locomotion via Large-Scale, Multi-Terrain Deep Reinforcement Learning
Southern University of Science and Technology（南方科技大学）；School of Design（设计学院）；Department of Mechanical and Energy Engineering（机械与能源工程系）；Department of System Design and Intelligent Manufacturing（系统设计与智能制造系）
Exploiting Intrinsic Kinematic Null Space for Supernumerary Robotic Limbs Control
Department of Information Engineering and Mathematics, University of Siena（信息工程与数学系，锡耶纳大学）；department of Humanoids and Human Centered Mechatronics (HHCM), Istituto Italiano di Tecnologia（人形与以人为中心的机电一体化系（HHCM），意大利理工学院）；Department of Biomedical and Dental Sciences and Morphofunctional Imaging, University of Messina（生物医学与牙科学及形态功能成像系，梅斯纳大学）；Center for Information and Neural Networks, Advanced ICT Research Institute, National Institute of Information and Communications Technology（信息与神经网络中心，先进ICT研究机构，日本信息与通信技术研究院）；Laboratory of Neuromotor Physiology, IRCCS Fondazione Santa Lucia（神经运动生理实验室，IRCCS圣拉齐娅基金会）
Functional kinematic and kinetic requirements of the upper limb during activities of daily living: a recommendation on necessary joint capabilities for prosthetic arms
Chair of Robotics and Systems Intelligence, MIRMI - Munich Institute of Robotics and Machine Intelligence, Technical University of Munich (TUM)（慕尼黑工业大学机器人与系统智能主席席位、慕尼黑机器人与机器智能研究所（MIRMI））
Continual Learning from Simulated Interactions via Multitask Prospective Rehearsal for Bionic Limb Behavior Modeling
ETH Zurich（苏黎世联邦理工学院）；University of Goettingen（戈丁根大学）；Bielefeld University（比勒菲尔德大学）；European Neuroscience Institute, Goettingen (ENI-G)（戈丁根欧洲神经科学研究所）；Qatar Computing Institute（卡塔尔计算研究所）；University Medical Center, Goettingen (UMG)（戈丁根大学医学中心）
Deep-Learning Estimation of Weight Distribution Using Joint Kinematics for Lower-Limb Exoskeleton Control
Legs and Walking Lab, Shirley Ryan AbilityLab（腿部与行走实验室，Shirley Ryan AbilityLab）；Center for Robotics and Biosystems, Department of Mechanical Engineering, Northwestern University（机器人与生物系统中心，机械工程系，西北大学）；Shirley Ryan AbilityLab；Biorobotics Institute, Scuola Superiore Sant’Anna（生物机器人研究所，Scuola Superiore Sant’Anna）；Department of Excellence in Robotics & AI, Scuola Superiore Sant’Anna（机器人与人工智能卓越部门，Scuola Superiore Sant’Anna）；Shirley Ryan AbilityLab, Center for Robotics and Biosystems, Department of Mechanical Engineering, Department of Biomedical Engineering, and Department of Physical Medicine and Rehabilitation, Northwestern University（Shirley Ryan AbilityLab，机器人与生物系统中心，机械工程系，生物医学工程系，物理医学与康复系，西北大学）
Design of an In-Pipe Robot with Contact-Angle-Guided Kinematic Decoupling for Crosstalk-Suppressed Locomotion
Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）机器人与自主系统学域）；Department of Engineering, Shinshu University（信州大学工学部）；College of Information Science and Technology, Beijing University of Chemical Technology（北京化工大学信息科学与技术学院）
A Novel Transformer-Based Method for Full Lower-Limb Joint Angles and Moments Prediction in Gait Using sEMG and IMU data
Faculty of Engineering and IT, the University of Melbourne（墨尔本大学工程与信息技术学院）；Faculty of Caspian College of Engineering, University of Tehran（德黑兰大学波斯湾工程学院）
SKATER: Synthesized Kinematics for Advanced Traversing Efficiency on a Humanoid Robot via Roller Skate Swizzles
Institute of Humanoid Robots, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China（人形机器人研究所，精密机械与精密仪器系，中国科学技术大学）
SpineWave: Harnessing Fish Rigid-Flexible Spinal Kinematics for Enhancing Biomimetic Robotic Locomotion
Zhejiang University（浙江大学）；Research Center for Industries of the Future, Westlake University（西湖大学未来产业研究中心）；Key Laboratory of Coastal Environment and Resources of Zhejiang Province, School of Engineering, Westlake University（西湖大学工学院浙江省海岸环境与资源重点实验室）；Institute of Advanced Technology, Westlake Institute for Advanced Study（西湖大学高等研究院先进技术研究所）；Hangzhou Dianzi University（杭州电子科技大学）；China University of Geosciences（中国地质大学）；Massachusetts Institute of Technology（麻省理工学院）
