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30 documents, page 1 of 3

A novel robot for imposing perturbations during overground walking: mechanism, control and normative stepping responses

Olen?ek, Andrej; Zadravec, Matja?; Matja?i?, Zlatko (2016)
Projects: EC | BALANCE (601003)
Background The most common approach to studying dynamic balance during walking is by applying perturbations. Previous studies that investigated dynamic balance responses predominantly focused on applying perturbations in frontal plane while walking on treadmill. The goal of our work was to develop balance assessment robot (BAR) that can be used during overground walking and to assess normative balance responses to perturbations in transversal plane in a group of neurologically healthy individ...

Walking in circles: a modelling approach

Maus, Horst-Moritz; Seyfarth, Andre (2014)
Projects: EC | BALANCE (601003)
Blindfolded or disoriented people have the tendency to walk in circles rather than on a straight line even if they wanted to. Here, we use a minimalistic walking model to examine this phenomenon. The bipedal spring-loaded inverted pendulum exhibits asymptotically stable gaits with centre of mass (CoM) dynamics and ground reaction forces similar to human walking in the sagittal plane. We extend this model into three dimensions, and show that stable walking patterns persist if the leg is aligne...

Towards versatile legged robots through active impedance control

Semini, Claudio; Barasuol, Victor; Boaventura, Thiago; Frigerio, Marco; Focchi, Michele; Caldwell, Darwin G.; Buchli, Jonas (2015)
Projects: EC | BALANCE (601003)
ISSN:0278-3649 ISSN:1741-3176

Center of mass velocity-based predictions in balance recovery following pelvis perturbations during human walking

Vlutters, Mark; van Asseldonk, Edwin H.F.; van der Kooij, Herman (2016)
Projects: EC | BALANCE (601003)
In many simple walking models, foot placement dictates the center of pressure location and ground reaction force components, whereas humans can modulate these aspects after foot contact. Because of the differences, it is unclear to what extent predictions made by models are valid for human walking. Yet, both model simulations and human experimental data have previously indicated that the center of mass (COM) velocity plays an important role in regulating stable walking. Here, perturbed human ...

Locomotor Sub-functions for Control of Assistive Wearable Robots

Sharbafi, Maziar A.; Seyfarth, Andre; Zhao, Guoping (2017)
Projects: EC | BALANCE (601003)
A primary goal of comparative biomechanics is to understand the fundamental physics of locomotion within an evolutionary context. Such an understanding of legged locomotion results in a transition from copying nature to borrowing strategies for interacting with the physical world regarding design and control of bio-inspired legged robots or robotic assistive devices. Inspired from nature, legged locomotion can be composed of three locomotor sub-functions, which are intrinsically interrelated:...

Centroidal Momentum Analysis for Defining a Stability Index for Human-Exoskeleton Interactive Walking : Perturbation Detection in Human Gait

Je Hyung, Jung; Jan, Veneman (2015)
Projects: EC | BALANCE (601003)
Recently, exoskeletons have been in the spotlight as many studies demonstrated the effectiveness of the exoskeletons as a means that enables to not only resolve long-standing issues such as increase of societal burden for the care of ageing populations but also augments productivity in several fields, such as rehabilitation and industrial fields. In particular, lower limb exoskeletons have attracted the medical field, especially related to the ageing society due to its impact on augmentation ...

Paretic versus non-paretic stepping responses following pelvis perturbations in walking chronic-stage stroke survivors

Haarman, Juliet A. M.; Vlutters, Mark; Olde Keizer, Richelle A. C. M.; van Asseldonk, Edwin H. F.; Buurke, Jaap H.; Reenalda, Jasper; Rietman, Johan S.; van der Kooij, Herman (2017)
Projects: EC | BALANCE (601003)
Background: The effects of a stroke, such as hemiparesis, can severely hamper the ability to walk and to maintain balance during gait. Providing support to stroke survivors through a robotic exoskeleton, either to provide training or daily-life support, requires an understanding of the balance impairments that result from a stroke. Here, we investigate the differences between the paretic and non-paretic leg in making recovery steps to restore balance following a disturbance during walking. Me...

Analysis of Accuracy in Pointing with Redundant Hand-held Tools: A Geometric Approach to the Uncontrolled Manifold Method

Campolo, Domenico; Widjaja, Ferdinan; Xu, Hong; Ang, Wei Tech; Burdet, Etienne (2013)
Projects: EC | BALANCE (601003)
Author Summary Daily motor tasks typically involve more degrees-of-freedom than strictly required. For instance, pressing a button in the elevator only requires positioning the fingertip at a three-dimensional location in space. However, to move the arm we need to control many more degrees-of-freedom (at least seven, only considering the shoulder, elbow and wrist) than required by the task, each with its own variability due to physiological factors such as tremor. Variability at proximal join...