6 accepted papers
The lower limb morphology of biological locomotors is abundant in muscle-tendon units. Yet, not much is known about how these actuation units contribute to the output performance and energy economy of movements. In this work, we investigate the functionality of four of the important lower limb muscl…
There is a long history demonstrating humans' tendency to create artificial copies of living creatures. For moving machines called robots, actuators play a key role in developing human-like movements. Among different types of actuation, PAMs (pneumatic artificial muscles) are known as the most simil…
Balancing or postural stability is one of important locomotor subfunctions in bipedal gaits. The inverted pendulum and virtual pivot point (VPP) are common modeling approaches to analyze balance control in human and robot walking. In this paper, we employ the VPP concept to investigate posture contr…
Several modeling studies, which address neuromuscular control in impaired unperturbed gaits, were performed to predict human strategies to cope with lateral asymmetries in the body. Experimental studies show different step length and stance time relations between limbs in walking of stroke patients.…
Spring loaded inverted pendulum (SLIP) model used simple spring mass mechanism to explain leg function and ground reaction force in legged locomotion. Balancing the upper body can be addressed by addition of a rigid trunk to this template model. The resulting model is not conservative and needs hip…
Walking with 5-link model has been achieved by HZD (Hybrid Zero Dynamics) controller based on virtual constraints. These holonomic constraints are obtained by optimizing a set of virtual relations (e.g., Beziér polynomial) between system states which mostly do not have physical interpretations. In t…