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A Muscle-Reflex Model That Encodes Principles of Legged Mechanics Produces Human Walking Dynamics and Muscle Activities
  • H. Geyer, H. Herr
  • Engineering, Medicine
  • IEEE Transactions on Neural Systems and…
  • 8 April 2010
While neuroscientists identify increasingly complex neural circuits that control animal and human gait, biomechanists find that locomotion requires little control if principles of legged mechanicsExpand
  • 413
  • 50
  • Open Access
Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art
  • A. Dollar, H. Herr
  • Engineering, Computer Science
  • IEEE Transactions on Robotics
  • 1 February 2008
In the nearly six decades since researchers began to explore methods of creating them, exoskeletons have progressed from the stuff of science fiction to nearly commercialized products. While thereExpand
  • 987
  • 37
  • Open Access
Adaptive control of a variable-impedance ankle-foot orthosis to assist drop-foot gait
  • J.A. Blaya, H. Herr
  • Engineering, Medicine
  • IEEE Transactions on Neural Systems and…
  • 15 March 2004
An active ankle-foot orthoses (AAFO) is presented where the impedance of the orthotic joint is modulated throughout the walking cycle to treat drop-foot gait. During controlled plantar flexion, aExpand
  • 639
  • 37
  • Open Access
Angular momentum in human walking
SUMMARY Angular momentum is a conserved physical quantity for isolated systems where no external moments act about a body's center of mass (CM). However, in the case of legged locomotion, where theExpand
  • 306
  • 34
  • Open Access
Swing-leg retraction: a simple control model for stable running
SUMMARY In running, the spring-like axial behavior of stance limbs is a well-known and remarkably general feature. Here we consider how the rotational behavior of limbs affects running stability. ItExpand
  • 363
  • 24
  • Open Access
Ground Reference Points in Legged Locomotion: Definitions, Biological Trajectories and Control Implications
The zero moment point (ZMP), foot rotation indicator (FRI) and centroidal moment pivot (CMP) are important ground reference points used for motion identification and control in biomechanics andExpand
  • 293
  • 23
  • Open Access
Energetics and mechanics of human running on surfaces of different stiffnesses.
Mammals use the elastic components in their legs (principally tendons, ligaments, and muscles) to run economically, while maintaining consistent support mechanics across various surfaces. To examineExpand
  • 322
  • 22
  • Open Access
Powered Ankle--Foot Prosthesis Improves Walking Metabolic Economy
At moderate to fast walking speeds, the human ankle provides net positive work at high-mechanical-power output to propel the body upward and forward during the stance period. On the contrary,Expand
  • 340
  • 21
  • Open Access
Bionic ankle–foot prosthesis normalizes walking gait for persons with leg amputation
Over time, leg prostheses have improved in design, but have been incapable of actively adapting to different walking velocities in a manner comparable to a biological limb. People with a legExpand
  • 289
  • 20
  • Open Access
Powered ankle-foot prosthesis to assist level-ground and stair-descent gaits
The human ankle varies impedance and delivers net positive work during the stance period of walking. In contrast, commercially available ankle-foot prostheses are passive during stance, causing manyExpand
  • 371
  • 17
  • Open Access